Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments

doi:10.12146/j.issn.2095-3135.20230725001

Home > Archive>Volume 13, Issue 2, 2024 >64-73. DOI:10.12146/j.issn.2095-3135.20230725001

Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments
DOI:
                        10.12146/j.issn.2095-3135.20230725001
                    
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Author:
                        LAN HaitaoLAN Haitao
Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, China；Shiyan Industry Technique Academy of Chinese Academy of Engineering, Shiyan 442002, China
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GONG JiayuanGONG Jiayuan
Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, China；College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China；Shiyan Industry Technique Academy of Chinese Academy of Engineering, Shiyan 442002, China
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ZHOU ShiweiZHOU Shiwei
Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, China；Shiyan Industry Technique Academy of Chinese Academy of Engineering, Shiyan 442002, China
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REN WenboREN Wenbo
Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, China；Shiyan Industry Technique Academy of Chinese Academy of Engineering, Shiyan 442002, China
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XING ZemingXING Zeming
Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, China；Shiyan Industry Technique Academy of Chinese Academy of Engineering, Shiyan 442002, China
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Affiliation:
Clc Number:TP273;U495
Fund Project:This work is supported by Ministry of Education-Baidu Industry-University Cooperation Collaborative Parenting Project (220700001154645); 2022 Innovative Team Research Project of Shiyan Industry Technique Academy of Chinese Academy of Engineering (TCTD202204); Doctoral Research Start-up Fund of Hubei University of Automotive Technology (BK201604)

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Abstract:

The paper explores the formation control problem of multiple unmanned intelligent vehicles moving in complex environments with the leader-follower method, and designs a formation controller and a formation control scheme by adopting a closed-loop control law, which is advantageous in that it realizes precise control mainly by considering the distance and angle between intelligent vehicles, while referring to the information between the leader and the neighboring followers. Based on the simulated test environment built, the improved control method is tested against the traditional formation method. The experimental results show that the method proposed in this paper has better motion control effects in complex environments.

Key words:feedback control information; complex environment; formation control; formation controller

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LAN Haitao, GONG Jiayuan, ZHOU Shiwei, et al. Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments[J]. Journal of Integration Technology,2024,13(2):64-73

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Received:July 25,2023
Revised:July 25,2023
Adopted:January 16,2024
Online: January 16,2024
Published:

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