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Sökning: WFRF:(van Hoef V) > Konferensbidrag

  • Resultat 1-10 av 10
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  • van de Hoef, Sebastian, et al. (författare)
  • Computing Feasible Vehicle Platooning Opportunities for Transport Assignments
  • 2016
  • Ingår i: IFAC PAPERSONLINE. - : Elsevier BV. - 2405-8963. ; , s. 43-48
  • Konferensbidrag (refereegranskat)abstract
    • Vehicle platooning facilitates the partial automation of vehicles and can significantly reduce fuel consumption. Mobile mummification infrastructure makes it possible to dynamically coordinate the formation of platoons en route. We consider a centralized system that provides trucks with routes and speed profiles allowing them to dynamically form platoons during their journeys. For this to work, all possible pairs of vehicles that can platoon based on their location, destination, and other constraints have to be identified. The presented approach scales well to large vehicle fleets and realistic road networks by extracting features from the transport assignments of the vehicles and rules out a majority of possible pairs based on these features only. Merely a small number of remaining pairs are considered in depth by a complete and computationally expensive algorithm. This algorithm conclusively decides if platooning is possible for a pair based on the complete data associated with the two vehicles. We derive appropriate features for the problem and demonstrate the effectiveness of the approach in a simulation example.
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  • van de Hoef, Sebastian, et al. (författare)
  • Coordinating Truck Platooning by Clustering Pairwise Fuel-Optimal Plans
  • 2015
  • Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - : IEEE conference proceedings. - 9781467365956 - 9781467365956 - 9781467365956 - 9781467365956 ; , s. 408-415
  • Konferensbidrag (refereegranskat)abstract
    • We consider the fuel-optimal coordination of trucks into platoons. Truck platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. We study how fuel-optimal speed profiles for platooning can be computed. A first-order fuel model is considered and pairwise optimal plans are derived. We formulate an optimization problem that combines these pairwise plans into an overall plan for a large number of trucks. The problem resembles a medoids clustering problem. We propose an approximation algorithm similar to the partitioning around medoids algorithm and discuss its convergence. The method is evaluated with Monte Carlo simulations. We demonstrate that the proposed algorithm can compute a plan for thousands of trucks and that significant fuel savings can be achieved.
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  • van de Hoef, Sebastian, et al. (författare)
  • Fuel-optimal centralized coordination of truck platooning based on shortest paths
  • 2015
  • Ingår i: Proceedings of the American Control Conference. - : IEEE. - 9781479986842 ; , s. 3740-3745
  • Konferensbidrag (refereegranskat)abstract
    • Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem of coordinating the formation and the breakup of platoons in a fuel-optimal way. We formulate an optimization problem which accounts for routing, speed-dependent fuel consumption, and platooning decisions. An algorithm to obtain an approximate solution to the problem is presented. It first determines the shortest path for each truck. Then, possible platoon configurations are identified. For a certain platoon configuration the optimal speed profile is the solution to a convex program. The algorithm is illustrated by a realistic example.
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10.
  • van de Hoef, Sebastian, et al. (författare)
  • Spectral analysis of extended consensus algorithms for multiagent systems
  • 2014
  • Ingår i: Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on. - 9781479977468 ; , s. 2204-2209
  • Konferensbidrag (refereegranskat)abstract
    • We analyze an extension of the well-known linear consensus protocol for agents moving in two dimensions, where the standard consensus feedback is multiplied with a rotation matrix. This leads to a richer family of trajectories, and if only the new feedback term is applied, periodic solutions emerge. For special configurations of the controller gains, the form of the system trajectories is given in terms of the eigenvalues and eigenvectors of the closed-loop system matrix. We characterize the resulting closed-loop trajectories for specific choices of the controller gains and of the communication graph topology. Furthermore, the control strategy is extended to agents with double integrator dynamics. It is shown that stability is achieved with sufficiently large velocity feedback. The effect of this feedback on the overall system performance is further investigated. We finally provide simulations to illustrate the theoretical results.
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