Research on control method and evaluation system of unmanned ground vehicle group change

In this paper, a novel formation control system, composed of path planning and tracking, was designed. A master-slave control model, based on the main vehicle, was proposed to solve the potential accumulation, transmission and amplification errors. To be specific, the referenced trajectory was initially generated by integrating a dynamic window and potential field in the process of transforming. Then a path tracking algorithm based on Hermite curve was introduced, which can make the group change process more stable and accurate. The performance of the formation control system was evaluated, in terms of the formation response and capacity of the formation stability in the simulated scenario. As a result, the vehicle control is simulated, the vehicle can quickly and precisely track the variation of the expected position, the maximum error is 0.1 m, and the speed error of the vehicle following can be controlled within 0.2 km / h, which can keep the stability of the vehicle formation better.