Research On Integrated Control Of Intelligent Fleet Based On Flocking Control Algorithm

In recent years,the swarming control of multi-agent systems has attracted attention and research in various fields.Its corresponding swarming control algorithm has greatly promoted the development of distributed control theory,and the research results have been widely used in submarine autonomy.Submarine,UAV formation,underwater robot formation,etc.Flocking movement is a group behavior that has a group common goal and a large number of individuals interact.Aiming at the traffic efficiency and safety of smart fleets,this paper designs a swarming control algorithm based on multi-agent location information,and then applies it to smart fleets,and sets up three different types of typical scenarios co-simulation to analyze and verify the algorithm.The research content and results mainly include the following aspects:1.Multi-agent system position and distance control.Based on the swarming criterion in the BOIDS model,the artificial potential energy function is constructed by constructing virtual force and distance collision functions,and the feasibility of the function is verified by computer simulation to realize the separation and aggregation problems in the swarming model.2.Speed consistency control of multi-agent system.In the traditional Olfati-saber swarming control algorithm,all agents of the multi-agent system can obtain the position information and speed information of other agents through information exchange,but it is difficult to implement in road vehicles.In order to solve this problem,the research in this paper is to use distributed control methods and use artificial potential energy functions to solve the position distance relationship between agents under the premise that the communication capabilities of the agents in the system are limited and the communication radius of each agent is the same.Combined with the principle of consistency,a multi-agent swarming control algorithm based on location relationship is designed.Based on the Lyapulov stability criterion,the algorithm is analyzed theoretically,and the computer simulation results prove the correctness of the algorithm.3.Flocking control algorithm with virtual leader.Considering the phenomenon of group split in the swarming control algorithm without a leader in the system,a virtual leader is added on the basis of the multi-agent swarming control algorithm based on location information,and a multi-agent swarming control algorithm with a virtual leader is proposed.And theoretically analyze the algorithm,and finally prove from the computer simulation results that the algorithm can make all the agents in the system follow the virtual leader accurately.4.Co-simulation analysis of smart fleets in typical scenarios.Taking into account the actual situation of the smart fleet driving on the road,the parametric modeling software Car Sim was used to build the bicycle longitudinal scene,the fleet straight scene,the threeway intersection turning scene and the crossroad fleet diversion scene simulation,and then combined with Simulink to carry out the intelligent fleet Co-simulation analysis.The simulation results show that the swarming control algorithm designed in this paper can realize the intelligent vehicle fleet following the virtual leader.