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Cooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehicles

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SAE_Jalalmaab.pdf (3.4 MB)

Date

2016-04-05

Authors

Mehdi, Jalalmaab
Mohammad, Pirani
Fidan, Baris
Jeon, Soo

Journal Title

Journal ISSN

Volume Title

Publisher

SAE International

Abstract

In this paper, a consensus framework for cooperative parameter estimation within the vehicular network is presented. It is assumed that each vehicle is equipped with a dedicated short range communication (DSRC) device and connected to other vehicles. The improvement achieved by the consensus for parameter estimation in presence of sensor’s noise is studied, and the effects of network nodes and edges on the consensus performance is discussed. Finally, the simulation results of the introduced cooperative estimation algorithm for estimation of the unknown parameter of road condition is presented. It is shown that due to the faster dynamic of network communication, single agents’ estimation converges to the least square approximation of the unknown parameter properly.

Description

authors' post-print

Keywords

autonomous vehicles, parameter estimation, road friction

LC Keywords

Citation

URI

https://dx.doi.org/10.4271/2016-01-0149
 http://hdl.handle.net/10012/12962

Collections

Waterloo Research
Mechanical and Mechatronics Engineering