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Formation control of autonomous surface vehicle and experimental validation

机译：自主地面车辆的形成控制和实验验证

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摘要

In this paper, formation controller based on leader-follower strategy is designed for autonomous surface vehicles (ASV), and field experiment with four vehicles in geometric formation is presented. First, the set up of communication network for multiple vehicles is introduced. Second, the design and implementation of the motion controller from single vehicle to multi-ASV formation controller is presented, in which the leader-follower strategy is adopted to maintain positional relationship between the leader vehicle and the followers. The distance and course control variables are decoupled based on the proposed fuzzy PID controller for ASVs. Finally, the experimental verification of single ASV control and Multi-ASV formation control is given.
机译：在本文中，基于领导者策略的形成控制器专为自主地面车辆（ASV）而设计，并提出了具有四个几何形成车辆的现场实验。首先，介绍了用于多车辆的通信网络的建立。其次，介绍了从单车辆到多ASV形成控制器的运动控制器的设计和实现，其中采用了领导者策略来维持领导者车辆和追随者之间的位置关系。距离和课程控制变量基于ASV的建议模糊PID控制器解耦。最后，给出了单款ASV控制和多ASV形成控制的实验验证。

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