Research On Cooperative Control And Round-up Strategy Of Unmanned Vehicle Formation

The cooperative control of multiple unmanned vehicles belongs to the forefront of the current research field,and its research results are of great significance in both civil and military fields.One of the most important directions in the cooperative control of multiple unmanned vehicles is the formation control problem which belongs to the control level.Based on the formation problem,scholars have expanded the research on multi-agent target hunting with multi unmanned vehicles as the research object.Based on the concept of algebraic graph theory,this paper establishes the cooperative control model of unmanned vehicles,designs the cooperative control strategy and rounding up control strategy of multi unmanned vehicle formation,and realizes the formation control of multi unmanned vehicles and the rapid rounding up of targets.In the process of strategy design,the influence of environmental obstacles and the round-up of dynamic targets are considered,which improves the round-up efficiency and realizes the shortest time.The main research contents of this paper are as follows:Firstly,the dynamics and kinematics models of unmanned vehicle formation are established.The communication topology model of multi unmanned vehicle formation is constructed by using graph theory,the accurate coordinate system description is constructed based on the formation,and the distance relationship between unmanned vehicles is constructed by using the formation description matrix.Then the cooperative control strategy of unmanned vehicle formation is proposed.Firstly,the basic consistency algorithm under the communication topology is designed and its stability is analyzed by simplifying the unmanned vehicle model,and the consistency convergence is proved by lyapunov method.A conventional formation cooperative control strategy was designed based on consistency theory,and formation matrix was designed for formation keeping and transformation problems,which was introduced into the control strategy as a formation control term.In order to solve the problem of time delay in the formation process,a cooperative control strategy based on consistency theory was designed by using the control quantity of the secondorder integral model,and the convergence and stability of the algorithm were proved.Simulation results show that the proposed formation intelligent control strategy is effective and stable in different application environments.Then the optimal roundup control strategy for multiple unmanned vehicles is proposed.Combined with the mathematical model of unmanned vehicles,the model can be simplified as a first-order particle integral model focusing on the research of round up control strategy,and an improved artificial potential field is designed to realize the obstacle avoidance of unmanned vehicles and avoid collisions between unmanned vehicles in the group.The rounding control strategy is proposed by using the idea of optimal control and consistency,which proves the optimality and stability of the rounding control strategy.Finally,simulation experiments are carried out on the multi-unmanned vehicle roundup control strategies with and without obstacles to verify the feasibility of the proposed control strategy.Finally,based on the multi unmanned vehicle test platform,the multi unmanned vehicle formation control and rounding up strategy designed in this paper is verified in the actual environment.The experimental results show that the designed control strategy can effectively complete the formation and rounding up tasks.