摘要
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.
作者
陈倩
庞文
朱大奇
汪中厚
CHEN Qian;PANG Wen;ZHU Daqi;WANG Zhonghou(Business school,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《控制工程》
CSCD
北大核心
2024年第4期669-677,共9页
Control Engineering of China
基金
国家自然科学基金资助项目(62303325,52301378)
上海市青年科技启明星计划项目(23YF1429700)
中国博士后科学基金资助项目(2023M742372)
国家资助博士后研究人员计划项目(GZC20231677)。
关键词
多无人车系统
编队控制
领航跟随法
流体扰动算法
编队避障
Multi-unmanned ground vehicle system
formation control
leader-follower method
fluid disturbance algorithm
formation obstacle avoidance