Longitudinal control for person-following robots

Purpose: This paper aims to address the longitudinal control problem for person-following robots (PFRs) for the implementation of this technology. Design/methodology/approach: Nine representative car-following models are analyzed from PFRs application and the linear model and optimal velocity model/full velocity difference model are qualified and selected in the PFR control. Findings: A lab PFR with the bar-laser-perception device is developed and tested in the field, and the results indicate that the proposed models perform well in normal person-following scenarios. Originality/value: This study fills a gap in the research on PRFs longitudinal control and provides a useful and practical reference on PFRs longitudinal control for the related research

Strategic and Tactical Guidance for the Connected and Autonomous Vehicle Future

Autonomous vehicle (AV) and Connected vehicle (CV) technologies are rapidly maturing and the timeline for their wider deployment is currently uncertain. These technologies are expected to have a number of significant societal benefits: traffic safety, improved mobility, improved road efficiency, reduced cost of congestion, reduced energy use, and reduced fuel emissions. State and local transportation agencies need to understand what this means for them and what they need to do now and in the next few years to prepare for the AV/CV future. In this context, the objectives of this research are as follows: Synthesize the existing state of practice and how other state agencies are addressing the pending transition to AV/CV environment Estimate the impacts of AV/CV environment within the context of (a) traffic operations—impact of headway distribution and traffic signal coordination; (b) traffic control devices; (c) roadway safety in terms of intersection crashes Provide a strategic roadmap for INDOT in preparing for and responding to potential issues This research is divided into two parts. The first part is a synthesis study of existing state of practice in the AV/CV context by conducting an extensive literature review and interviews with other transportation agencies. Based on this, we develop a roadmap for INDOT and similar agencies clearly delineating how they should invest in AV/CV technologies in the short, medium, and long term. The second part assesses the impacts of AV/CVs on mobility and safety via modeling in microsimulation software Vissim