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

作　　者：兰海涛 龚家元 周诗薇 任文博 邢泽铭 LAN Haitao;GONG Jiayuan;ZHOU Shiwei;REN Wenbo;XING Zeming(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)

机构地区：[1]湖北汽车工业学院汽车工程师学院,十堰442002 [2]哈尔滨工程大学水声工程学院,哈尔滨150001 [3]中国工程科技十堰产业技术研究院,十堰442002

出　　处：《集成技术》2024年第2期64-73,共10页Journal of Integration Technology

基　　金：教育部-百度产学合作协同育人项目(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);湖北汽车工业学院博士科研启动基金(BK201604)。

摘　　要：该文对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实现精准控制。基于所搭建的模拟测试环境,测试改进的控制方法与传统编队方法。实验结果显示,该文所提出的方法在复杂环境下具有更好的运动控制效果。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 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]