集成技术2024，Vol.13Issue(2)：64-73,10.DOI:10.12146/j.issn.2095-3135.20230725001
复杂环境中多无人智能车协同控制
Cooperative Control of Multiple Unmanned Intelligent Vehicles in Complex Environments
摘要
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.关键词
反馈控制信息/复杂环境/编队控制/编队控制器Key words
feedback control information/complex environment/formation control/formation controller分类
信息技术与安全科学引用本文复制引用
兰海涛,龚家元,周诗薇,任文博,邢泽铭..复杂环境中多无人智能车协同控制[J].集成技术,2024,13(2):64-73,10.基金项目
教育部-百度产学合作协同育人项目(220700001154645) （220700001154645）
中国工程科技十堰产业技术研究院2022年创新团队科研项目(TCTD202204) （TCTD202204）
湖北汽车工业学院博士科研启动基金(BK201604) This work is supported by Ministry of Education-Baidu Industry-University Cooperation Collaborative Parenting Project(220700001154645) （BK201604）
2022 Innovative Team Research Project of Shiyan Industry Technique Academy of Chinese Academy of Engineering(TCTD202204) （TCTD202204）
Doctoral Research Start-up Fund of Hubei University of Automotive Technology(BK201604) （BK201604）
