Design and Implementation of Distributed Multi-Unmanned Vehicle Formation Control Based on Leader-Following Method
Chengyuan Zhang, Jia Zhang · 2023
For the formation navigation, formation keeping and formation obstacle avoidance problems in the formation control of multiple unmanned vehicles (UGVs), the commonly used all-in-one algorithms have the disadvantage of high information interaction costs. In this paper, a distributed formation control method based on the leader-following method is constructed by distinguishing the leader vehicle and the follower vehicle, configuring a high intelligence trajectory tracking algorithm for the leader vehicle and a low intelligence formation control algorithm and obstacle avoidance algorithm for the follower vehicle. In this paper, the dynamic window approach, the error control-based leader-following method and the behavior-based method are used to achieve the work of trajectory tracking, formation control and formation avoidance respectively. With this distributed approach, the information interaction cost of the system is reduced and better navigation results are obtained for formation navigation compared to the old manual potential field method.