Comparison of Distributed Autonomous Vehicle Control Logics in presence of multiple UGV by means of numerical and experimental tests

This paper presents a comparison between different distributed control algorithms for autonomous vehicles. The logics presented allow multiple vehicles to perform a race circuit without any collision. The comparison of the logics is carried out introducing different performance indexes, e.g. lap time, overall trajectory length, computational time, etc. Also experimental tests are carried out on small prototype RC cars on a demo race circuit (a simplified version of Monza F1 race circuit). For these tests, the logic is running on an ODROID-XU4, a powerful low-cost Single Board computer mounted on each prototype vehicle.