Abstract
Aiming at the problem of following control of autonomous vehicle, the following controller is designed based on Leader-follower strategies. First, the kinematic modeling is done. Next, Leader-follower model is used to describe the following structure and L − ϕ method is used to build error system. Then, The speed controller for the follower is designed to achieve the objectives. Finally, the simulation is done by Matlab, the results show that the controller is effective.
Highlights
With the rapid development of economy and science and technology, the number of vehicles is increasing, resulting in a series of problems such as traffic congestion, traffic accidents, environmental pollution and so on
Multi mobile robot technology has been widely used in industry, agriculture, military and other fields
Multiple mobile robots can complete tasks that are difficult for a single robot to complete[1], the cooperative method of multi robot system can be used to coordinate the behavior of vehicles and solve the problem of vehicle following control
Summary
With the rapid development of economy and science and technology, the number of vehicles is increasing, resulting in a series of problems such as traffic congestion, traffic accidents, environmental pollution and so on. Multiple mobile robots can complete tasks that are difficult for a single robot to complete[1], the cooperative method of multi robot system can be used to coordinate the behavior of vehicles and solve the problem of vehicle following control. There are two main control forms of leader follower method [11]: L I control and L L control.The purpose of the L I control is to make the relative distance and angle between the follower and the pilot reach the given value; The L L control mainly solves the problem of relative. In view of the above problems, the author uses the leader follower method to solve the following control problem in autonomous vehicle formation control. Two groups of simulation experiments with different initial conditions are carried out with MATLAB to verify the effectiveness of the designed controller
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