Linxuan Wang, Yahui Zhang, Aimin Li, and Fei Chen
Construction vehicles, multi-agent, motion control, formation control, driverless
Vehicle motion control is the basis of formation cooperative control. In order to improve the efficiency of multi-vehicle cooperative operation, a multi-agent formation control system is established. Based on single-vehicle control, this paper studies the control method of multi-vehicle cooperative construction. First, the horizontal and longitudinal control model of the bicycle is established. The linear time-varying model predictive control is used for the lateral control of the vehicle, and the preview PID is used for the longitudinal control of the vehicle. Second, aiming at the difficulty of multi- vehicle cooperative control communication, a controller suitable for multi-vehicle communication is designed, which can keep the vehicle control even when the signals are discontinuous in the formation process. Finally, in order to verify the effect of the designed controller, MATLAB/Simulink and TruckSim co-simulation were carried out, and the simulation results showed that the designed controller performed well in multi-machine cooperative control.
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