The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and t...The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.展开更多
In order to analyze the stability impact of cooperative adaptive cruise control （CACC） platoon, an adaptive control model designed for the lead vehicle in a CACC platoon （LCACC model） in heterogeneous traffic flow...In order to analyze the stability impact of cooperative adaptive cruise control （CACC） platoon, an adaptive control model designed for the lead vehicle in a CACC platoon （LCACC model） in heterogeneous traffic flow with both CACC and manual vehicles is proposed. Considering the communication delay of a CACC platoon, a frequency-domain approach is taken to analyze the stability conditions of the novel lead-vehicle CACC model. Field trajectory data from the next-generation simulation （NGSIM） data is used as the initial condition. To account for car- following behaviors in reality, an intelligent driver model （IDM） is calibrated with the same NGSIM dataset from a previous study to model manual vehicles. The stability conditions of the proposed model are validated by the ring- road stability analysis. The ring-road test results indicate the potential of the LCACC model for improving the traffic flow stability impact of CACC platoons. Sensitivity analysis shows that the CACC fleet size has impact on the parameters of the LCACC model.展开更多
文摘The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.
基金The National High Technology Research and Development Program of China(863 Program)(No.2011AA110405)
文摘In order to analyze the stability impact of cooperative adaptive cruise control （CACC） platoon, an adaptive control model designed for the lead vehicle in a CACC platoon （LCACC model） in heterogeneous traffic flow with both CACC and manual vehicles is proposed. Considering the communication delay of a CACC platoon, a frequency-domain approach is taken to analyze the stability conditions of the novel lead-vehicle CACC model. Field trajectory data from the next-generation simulation （NGSIM） data is used as the initial condition. To account for car- following behaviors in reality, an intelligent driver model （IDM） is calibrated with the same NGSIM dataset from a previous study to model manual vehicles. The stability conditions of the proposed model are validated by the ring- road stability analysis. The ring-road test results indicate the potential of the LCACC model for improving the traffic flow stability impact of CACC platoons. Sensitivity analysis shows that the CACC fleet size has impact on the parameters of the LCACC model.
