Research on multi-vehicle formation control based on improved artificial potential field method

Multi-vehicle formation can perform various special tasks in unstructured environment. How to take into account the safety of vehicles in avoiding obstacles and the ability to maintain formation has a certain research value. In this paper, the four-circle model of vehicle is established first, and the circle radius is adjusted according to the state of vehicle, so as to describe the safety boundary of vehicle. The improved RRT algorithm is used for the whole route planning, and the discrete path points are used as vehicle guidance. Then the artificial potential field is constructed, and the formation coordination potential field is proposed, so that the vehicles can cooperate with other vehicles to keep the preset formation as far as possible when avoiding obstacles. Then the control quantity of the vehicle is calculated according to the force condition of the vehicle in the potential field by the double exponential sliding mode control method. Finally, the effectiveness of the method is verified by the simulation experiments of triangle formation and circular formation under different working conditions, and the formation error is reduced by about 20%.