复杂环境中多无人智能车协同控制
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湖北汽车工业学院

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Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments
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Hubei University of Automotive Technology

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    摘要:

    本文对于多无人智能车以领航-跟随法在复杂环境下运动的编队控制问题进行了探讨,通过采用闭环控制律设计了一种编队控制器和编队控制方案,该编队控制器的优点在于其主要考虑智能车之间的距离和角度,同时参考领航者与相邻跟随者之间的信息即可实现精准的控制。基于所搭建的模拟测试环境,实验结果显示,与传统编队方法相比,本文所提出的方法在复杂环境下具有更好的运动控制效果。

    Abstract:

    The problem of formation control of multiple unmanned intelligent vehicles moving in complex environments with the leader-follower method is explored for the cooperative control system of multiple unmanned intelligent vehicles in the absence of explicit feedback control information or error in the feedback control information. A formation controller and a formation control scheme are designed by using closed-loop control law. The advantages of this formation controller are that only the distance and angle between the intelligent vehicles need to be measured, and the information between the navigator and the neighboring followers is considered to realize the control. A simulation scenario is built to test the proposed improved control method and a comparative analysis with the conventional formation scheme is performed to demonstrate that the proposed method is more effective than the conventional formation scheme in complex environment movements.

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兰海涛,龚家元,周诗薇,等.复杂环境中多无人智能车协同控制 [J].集成技术,

Citing format
Lan Haitao, Gong Jiayuan, Zhou Shiwei, et al. Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments[J]. Journal of Integration Technology.

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历史
  • 收稿日期:2023-07-25
  • 最后修改日期:2023-07-25
  • 录用日期:2024-01-16
  • 在线发布日期: 2024-01-16
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