基于图和流体扰动算法的多无人车编队及避障研究

Research on Multi-unmanned Ground Vehicle Formation and Obstacle Avoidance Based on Graph and Fluid Disturbance Algorithm

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

In order to solve the obstacle avoidance problem of multi-unmanned ground vehicle formation in complex environment with moving targets,moving threats and sudden threats,a multi-unmanned ground vehicle formation obstacle avoidance control algorithm based on rigid graph theory and fluid disturbance algorithm is designed.Firstly,for the formation control problem,the graph theory method is used to describe the cooperative relationship between multiple unmanned ground vehicles,and the leader-follower formation controller is designed based on the backstepping control theory by using the distance constraint between unmanned ground vehicles.The Lyapunov analysis shows that the desired formation shape is asymptotically stable.Secondly,for the obstacle avoidance problem of the formation in the complex dynamic environment,an obstacle avoidance path planning method based on fluid disturbance algorithm is designed,and the driving path of the formation is planned by the piloted unmanned ground vehicle to realize the overall obstacle avoidance of the formation.Finally,the simulation results based on MATLAB verify the effectiveness of the proposed algorithm.