基于无线通信网络的多智能小车编队控制系统设计

Design of Multi-intelligent Trolley Formation Control System Based on Wireless Communication Network

多智能小车编队在运行过程中要对编队的队形和运行路线进行有效控制,同时还要完成有效的避障。为了确保多智能体小车编队平稳运行,本次采用无线保真(WIFI)无线通信技术,搭建多车编队智能控制研究实验平台。采用分布式控制形式,搭建多智能小车集感知、通信、控制多模块的系统架构;设计智能小车分布式自主决策程序,实现多智能小车自由运行、跟随、协作等模式;采用模糊比例-积分-微分(PID)控制算法设计车队跟随控制算法,并利用协作算法来进行通信,进而实现多智能小车的编队控制任务。所设计的多智能小车编队系统在搭建的实验平台进行验证,结果表明,在实验环境中,该多智能小车编队控制系统可以很好的控制小车编队完成跟随运动和避障。

Multi-intelligent cart formation has to effectively control the formation and running route of the formation in the running process,and at the same time,it also has to complete effective obstacle avoidance.In order to ensure the smooth operation of multi-intelligent body cart formation,this time the wireless fidelity(WIFI)wireless communication technology is used to build a multi-vehicle formation intelligent control research experimental platform.The distributed control form is used to build the system architecture of multi-intelligent trolley set of perception,communi-cation,and control multi-module;the intelligent trolley distributed autonomous decision making procedure is designed to realise the modes of multi-intelligent trolley free running,following and collaborating;the fuzzy proportion-integration-differentiation(PID)control algorithm is used to design the fleet-following control algorithm,and the collaborative algorithm is used to carry out the communication,which will in turn realise the multi-intelligent trolley's formation control task.The designed multi-intelligent trolley formation system is verified in the experimental platform built,and the results show that the multi-intelligent trolley formation control system can well control the trolley formation to complete the following movement and obstacle avoidance in the experimental environment.