基于鱼群效应的无人驾驶车辆编队算法研究

Research on Algorithm of Unmanned Vehicle Formation Based on Fish School

针对复杂多变的交通环境下无人驾驶车辆编队问题,引入生物群体机制,开展了基于鱼群效应的无人驾驶车辆编队控制方法的研究。借鉴已有的鱼群建模思想,将无人驾驶车辆编队控制与鱼群行为进行类比,综合考虑车辆行驶的具体特征,对同一时间段行驶在同一道路上的同向车辆进行数学建模,并通过MATLAB对车辆行驶轨迹、车辆速度等进行仿真验证,同时与领航者-跟随者法进行了对比。实验结果表明,在相同条件下,提出的基于鱼群的车辆编队算法在编队效率方面更优,进一步验证了将鱼群行为理论应用于车辆编队控制领域的可行性。

Aiming at the formation of unmanned vehicles in complex and changeable traffic environment,the biocolony mechanism is introduced to study the formation control method of unmanned vehicles. Referring to the existing fish group modeling idea,the formation control of unmanned vehicles is analogized with the behavior of fish group. Considering the specific characteristics of vehicle driving,the mathematical model of the same direction vehicle running on the same road in the same time period is established. The trajectories and speeds of vehicles are simulated and verified by MATLAB. At the same time,compared with the Leader-Follower,the experimental results show that under the same conditions,the vehicle formation algorithm based on fish school proposed in this paper has better formation efficiency,which further verifies the feasibility of applying the fish-group behavior theory to vehicle formation control research.