Distributed Multi-vehicle Formation Control with Large Spacing Based on Improved MPC
Aiming at the communication limitation problem of multi-vehicle system with large spac-ing formation control,a method of solving the expected trajectory based on local information is designed.Firstly,the breadth-first spanning tree is solved according to the formation communication network topol-ogy to realize the hierarchical topology.Secondly,the hierarchical topology of the formation is updated in real time,and the network topology is one-way optimized to determine the communication level of each node.Finally,each node integrates the neighbor node state and formation information to calculate the expected trajectory under the communication limitation.The effectiveness and reliability of the proposed method is verified by the simulation experiment results.
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