车辆编队的队形控制方法及应用综述

Survey of Vehicle Formation Control Method and Application

车辆编队的队形控制研究主要集中于队形成形、队形切换和队形保持三个方面。首先介绍分析了多种队形控制方法包括行动选择法、人工势场法、虚拟结构法、复拉普拉斯矩阵法、领航-跟随法等控制方法;其次介绍了如公路无人卡车辆编队场景、无人战车编队场景等多智能车队形控制应用场景;最后总结了未来队形控制问题的一些研究方向。

The formation control research of vehicle formation mainly focuses on the three aspects: formation forming, formation switching and formation maintenance. This paper first introduces and analyzes various formation control methods including action selection method, artificial potential field method, virtual structure method, complex Laplace matrix method, leader-follower method, etc. Secondly, the application scenarios for multi-intelligent vehicle formation control are introduced, such as the formation of unmanned trucks on highway scenario and unmanned combat vehicle formation scenario. Finally, some research directions for future formation control problems are summarized.