A Cooperative Longitudinal-Lateral Platoon Control Framework with Dynamic Lane Management for Unmanned Ground Vehicles Based on a Dual-Stage Multi-Objective MPC Approach

Cooperative longitudinal–lateral trajectory optimization is essential for unmanned ground vehicle (UGV) platoons to improve safety, capacity, and efficiency. However, existing approaches often face unstable formation under low penetration rates and rely on fragmented control strategies. This study d...

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Principais autores:	Shunchao Wang, Zhigang Wu, Yonghui Su
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2025-10-01
coleção:	Drones
Assuntos:	unmanned ground vehicles platoon control framework longitudinal–lateral trajectory optimization model predictive control dynamic lane management intelligent transportation systems
Acesso em linha:	https://www.mdpi.com/2504-446X/9/10/711
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