多无人车领航跟随编队避障控制方法

APilot Following Formation Obstacle Avoidance and Control Method for Multi-unmanned Vehicles

多无人车的编队控制和编队避障是无人车领域研究的重要问题之一。针对多无人车的编队控制,提出一种基于无人车之间的距离和角度控制的领航跟随编队控制算法,并对算法的收敛性进行验证。针对多无人车的编队避障,提出一种自适应编队避障方法,由领航无人车规划出编队的行驶路径,对路径中的大尺寸障碍物采用动态队形变换实现编队避障,对路径中的小尺寸障碍物采用改进动态窗口法实现跟随无人车的自主避障。最后,在Matlab中对编队算法和自适应编队避障方法进行实验验证,实验结果表明所提算法能实现无人车的编队控制和编队避障,且取得较好的队形稳定性和有效性。

The formation control and obstacle avoidance of multi-unmanned vehicles is one of the important issues in the field of unmanned vehicles.Aiming at the formation control of multi-unmanned vehicles,a pilot following formation control algorithm based on distance and angle control between unmanned vehicles is proposed,and the convergence of the algorithm is verified.Aiming at the formation obstacle avoidance of many unmanned vehicles,an adaptive formation obstacle avoidance method is proposed.The driving path of the formation is planned by the pilot unmanned vehicle,and the large size obstacles in the path are realized by dynamic formation transformation.For the small size obstacles in the path,the improved dynamic window method is used to realize the autonomous obstacle avoidance of following the unmanned vehicle.Finally,the experimental verification of the formation algorithm and adaptive formation obstacle avoidance method is carried out in Matlab,and the experimental results show that the proposed algorithm can achieve formation control and formation obstacle avoidance of unmanned vehicles,and achieve good formation stability and effectiveness.