火力与指挥控制2024，Vol.49Issue(8)：53-59,7.DOI:10.3969/j.issn.1002-0640.2024.08.008
基于改进MPC的分布式大间距多车编队控制(下篇)
Distributed Multi-vehicle Formation Control with Large Spacing Based on Improved MPC
郑屹天 1郭志强 1赵建新 1张宏映1
作者信息
- 1. 北方自动控制技术研究所,太原 030006
- 折叠
摘要
Abstract
Aiming at the communication limitation problem of multi-vehicle system with large spac-ing formation control,a method of solving the expected trajectory based on local information is designed.Firstly,the breadth-first spanning tree is solved according to the formation communication network topol-ogy to realize the hierarchical topology.Secondly,the hierarchical topology of the formation is updated in real time,and the network topology is one-way optimized to determine the communication level of each node.Finally,each node integrates the neighbor node state and formation information to calculate the expected trajectory under the communication limitation.The effectiveness and reliability of the proposed method is verified by the simulation experiment results.关键词
编队控制/通信受限/网络拓扑/拓扑分层Key words
formation control/communication limitation/network topology/hierarchical topology分类
信息技术与安全科学引用本文复制引用
郑屹天,郭志强,赵建新,张宏映..基于改进MPC的分布式大间距多车编队控制(下篇)[J].火力与指挥控制,2024,49(8):53-59,7.
