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Vol: 58(72) No: 2 / June 2013 Emulation of Highway Situations Using a Leader-Follower System Amélie Chevalier Department of Electrical Energy, Systems and Automation, Ghent University, Technologiepark 913, 9052 Gent, Belgium, phone: (+32) 9 264 55 76, e-mail: Amelie.Chevalier@UGent.be Cosmin Copot Department of Electrical Energy, Systems and Automation, Ghent University, Technologiepark 913, 9052 Gent, Belgium, phone: (+32) 9 264 55 76, e-mail: Cosmin.Copot@UGent.be Clara M. Ionescu Department of Electrical Energy, Systems and Automation, Ghent University, Technologiepark 913, 9052 Gent, Belgium, e-mail: ClaraMihaela.Ionescu@UGent.be Robin De Keyser Department of Electrical Energy, Systems and Automation, Ghent University, Technologiepark 913, 9052 Gent, Belgium, e-mail: Robain.DeKeyser@UGent.be Keywords: formation control, mobile robot, stop-and-go waves, highway bottleneck, education, remote lab Abstract Everyday car accidents and traffic jams occur on our highways. Stop-and-go waves and bottleneck situations often occur as a result of the behavior of the driver. This work focuses on these two highway situations that can cause a derailment of our traffic system. A leader-follower system of mobile robots is used to emulate both the bottleneck situation and the stop-and go waves. The mobile robot system used in this experiment is part of a remote lab used to educate young control engineers. To emulate a bottleneck switching between an in-line and a triangle formation is used. In order to create stop-and-go waves, the speed of the leader in an in-line formation is changed forcing the followers to have a stop-and-go movement in order to keep the desired formation. Distance and angle measurements from image processing algorithms and speed measurements from optical encoders are used in the control strategy. A cascade PI-P controller is used to stabilize the system. 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