Research On Multi-vehicle Formation Cooperative Control Algorithm Based On ROS

With the continuous improvement of global artificial intelligence technology,intelligent vehicle technology has developed rapidly.However,facing an increasingly complex traffic environment,a single smart car exhibits certain limitations.Therefore,the research on multi-vehicle collaborative control has received extensive attention from scholars.Compared with a single smart car,the multi-vehicle collaborative system has the advantages of higher work efficiency,more flexible spatial distribution,and better robustness,which can help solve road congestion,energy conservation,environmental protection,and traffic safety.Based on the multi-vehicle cooperative system,this paper studies the multi-vehicle cooperative control algorithm and designs the control platform of the multi-vehicle cooperative system.The main research contents of this article include:First,three aspects of the kinematics model of the smart miniature car,multi-vehicle cooperative formation control and obstacle avoidance control are introduced.The intelligent miniature car studied in this paper can be simplified into a single-car model with typical non-integrity constraints.The advantages and disadvantages of several typical multi-car formation control and obstacle avoidance control algorithms are briefly analyzed.Then,improvements are proposed to solve the problems in several classic multi-vehicle formation control and obstacle avoidance control algorithms.Aiming at the problem of the easy divergence of the formation of the pilot-following algorithm,a pilot-following method based on adsorption behavior is proposed to achieve stable formation of multi-vehicles.Aiming at the local minimum problem of the artificial potential field algorithm,an improved obstacle avoidance algorithm based on behavior along the wall is proposed to realize the effective obstacle avoidance of vehicles.Aiming at the formation problem,based on the virtual structure method,the formation is regarded as a task assignment problem,and the formation strategy with the shortest total distance is proposed.Based on the formation of virtual structure method,a joint potential field method is proposed to realize the coordinated movement of multi-vehicle formation under the swarm control theory.By simulating the improved multi-vehicle formation control and obstacle avoidance control algorithm,the effectiveness and accuracy of the multi-vehicle collaborative algorithm are verified.Finally,this paper verifies the multi-vehicle cooperative control algorithm on the physical platform.First,the physical control platform was designed and built,and a scaled down smart miniature car was designed following the actual smart car.The main control computer and the bottom drive board were used to form the control system,and the lidar was used as a sensor to collect surrounding environment information.The Robot Operating System(ROS)is used as the main control system,and the wireless communication mechanism is designed based on the ROS system framework to establish a multi-vehicle collaborative architecture.The multi-vehicle formation control and obstacle avoidance control algorithms are verified in an indoor environment.The experimental results show the feasibility and accuracy of the multi-vehicle collaborative control algorithm on the physical platform,and the results can be actual multi-vehicle collaborative control Research to provide solutions.