低速无人车编队控制研究

Research on Formation Control of Low Speed Unmanned Vehicle

以基于行为法为基础,根据车辆的运动学模型利用李雅普诺夫法设计出领航跟随的编队控制器进行编队控制行为,以简化的VFH为队形避障控制行为。车辆间采用v2v通信机制进行车间通信,传输车辆运动信息。最后,再以实际车辆进行车辆的队形保持和编队避障的实验,实验结果表明了该算法的有效性。

Based on the behavior law,the leader-follower controller is designed according to the kinematic model of the vehicle and the Lyapunov method. This controller is used to control vehicle formation. The simplified VFH method is used to avoid collision control. Between the vehicles v2v mechanism is used for vehicle motion information exchange. At last,the experiment on the real low speed vehicle is carried out to verify the effectiveness of the formation control and the formation collision avoidance control.The result proves the effectiveness of the algorithm.