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