Autonomous Driving with Multi-Vehicle Interactions Based on Potential Function
The control of multi-agents is a hot topic in recent years.Compared to traditional robot systems,multi-agent systems require more complex control laws and algorithms to accomplish the given task.This report considers how a multi-vehicle system completes formation control.In the process of reaching the target position,the agents also need to achieve connectivity and collision avoidance.In this report,the agent is first modeled.Then,in order to achieve connectivity maintenance and collision avoidance,a potential function is constructed for it.Based on this,the control law of the system is given.Finally,two simulations are performed by matlab.The first simulation experiment failed,and after analyzing the reason,I gave a second simulation experiment,which was successful.
potential functionformation controlmulti-vehicle system
NETL
NSTL
万方数据
维普
