基于ROS2架构的地面多无人车自主协同编队控制实现  

Realization of Autonomous Cooperative Formation Control of Multi-unmanned Ground Vehicles Based on ROS2 Architecture

作　　者：王荣浩 周浩 WANG Rong-hao;ZHOU Hao(Army Engineering University of PLA,Nanjing 210007 China;Nanjing Cosimo Intelligent Technology Co.,Ltd.,Nanjing 210033 China)

机构地区：[1]陆军工程大学,江苏南京210007 [2]南京柯西莫智能科技有限公司,江苏南京210033

出　　处：《自动化技术与应用》2025年第3期7-11,104,共6页Techniques of Automation and Applications

基　　金：国家自然科学基金项目(62173341);江苏省自然科学基金项目(BK20231487)。

摘　　要：为了提高无人车自主协同编队能力,实现高效多无人车编队运动和快速的多车信息交互,提出一种基于第二代机器人操作系统(ROS2)架构的地面多无人车自主协同编队控制方法。总体思想是利用ROS2的分布式数据分发服务(DDS),通过无线通信方式完成多无人车间信息数据的快速、简便及无中心的交互,从而实现基于“领导者-追随者”算法原理的多车协同编队。在系统软硬件实现与测试环节利用无人车平台对提出的思路和算法开展实验验证,结果表明:所提出的基于DDS的多无人车协同编队方法能够实现快速编队和有效避障。In order to improve the autonomous cooperative formation ability of unmanned vehicles,realize efficient multi-unmanned vehicle formation movement and fast multi-vehicle information exchange,this paper proposes a control method of ground multi-unmanned vehicle autonomous cooperative formation based on second generation Robot Operating System(ROS2)architecture.The overall idea is to use the distributed Data Distribution Service(DDS)of ROS2 to complete the rapid,simple and centerless information interaction between multi-vehicle through wireless communication.Based on this,the multi-vehicle cooperative formation using the“leader-follower”algorithm is completed.In the software and hardware implementation and testing of the system,the proposed ideas and algorithms are verified by using the unmanned vehicle platform.The results show that the multi-unmanned vehicle cooperative formation method based on the DDS proposed in this paper can achieve rapid formation and effective obstacle avoidance.

关 键 词：ROS2系统 协同编队 数据分发服务 多无人车 分布式通信 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]