基于模型预测控制的无人车编队避障方法  

Formation Obstacle Avoidance Based on Model Predictive Control for Unmanned Vehicles

作　　者：张硕[1] 吴雨洋 汪洋 王一全 崔星 宿玉康 ZHANG Shuo;WU Yuyang;WANG Yang;WANG Yiquan;CUI Xing;SU Yukang(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;China North Vehicles Institute,Beijing 100000,China)

机构地区：[1]北京理工大学机械车辆学院,北京100081 [2]中国北方车辆研究所,北京100000

出　　处：《北京理工大学学报》2025年第1期34-41,共8页Transactions of Beijing Institute of Technology

基　　金：国家部委基金资助项目(5CC9F743)。

摘　　要：为研究障碍物环境下基于模型预测控制的无人车编队避障方法,建立了包含虚拟智能体状态的编队避障函数,使避障问题容易用优化方法求解.在无人车编队内部引入优先级策略实现编队内部避碰,并通过动态事件触发机制减小无人车之间通讯带宽占用.对该方法进行了计算机仿真验证,在给定多边形障碍物环境下,使用领导者-追随者架构执行编队行驶任务,并借助事件触发器实现间歇通讯.结果表明,相较于传统方法,所设计的编队控制器能够提高带宽约束下无人车编队行驶安全性.An obstacle avoidance method was proposed based on model predictive control for unmanned vehicle formation.Firstly,a formation obstacle avoidance function including the virtual agent state was established to make the obstacle avoidance problem been solved suitably with the optimizer.And a priority strategy was intro-duced to realize collision avoidance in unmanned vehicle formation.Then,a dynamic event triggering mechan-ism was introduced to reduce the bandwidth usage of communication between unmanned vehicles.Finally,simu-lation tests were carried out to evaluate the performance of the designed controller,conducting the formation driving tasks based on a leader-tracker architecture under the environment of given polygonal obstacles,and real-izing the intermittent communication during driving with the help of event trigger.The results show that com-pared with traditional methods,the designed formation controller can realize the collision-free driving with lim-ited bandwidth for unmanned vehicle formation.

关 键 词：编队控制 模型预测控制 动态事件触发机制 无人车避障 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]