CN111259546B - Circumferential formation control method and system for self-driven vehicles and storage medium - Google Patents
Circumferential formation control method and system for self-driven vehicles and storage medium Download PDFInfo
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Abstract
The invention discloses a self-driven vehicle circumference formation control method, a system and a storage medium, which comprises the following steps executed by computer equipment: s100, establishing a dynamic model of the autonomous driving vehicle; s200, designing a controller based on the dynamic model in the step S100; and S300, acquiring information of the autonomous driving vehicles and realizing circular formation based on the controller in the step S200. The invention designs the circle center controller, and compared with the traditional method of giving the circle center in advance, the invention can be combined with other intelligent algorithms to be improved so as to complete complex tasks, such as signal source searching through a particle algorithm. The invention establishes a dynamic model of the autonomous driving vehicle, and the model can describe the motion state of the actual autonomous driving vehicle more than a single integral or double integral model.
Description
Technical Field
The invention relates to the technical field of intelligent systems, in particular to a method and a system for controlling circumferential formation of self-driven vehicles and a storage medium.
Background
With the rapid development of communication technology, perception network and chip computing power, the coordination problem of a multi-agent system in the past two decades has aroused the interest of a plurality of experts and scholars, and the coordination problem is that a group of agents which can communicate with each other can jointly complete a complex task through design. The cooperative control problem of multiple intelligent agents has many engineering applications, such as unmanned aerial vehicle formation, intelligent factories, environmental monitoring, intelligent buildings and intelligent monitoring. Among the multi-agent cooperative control problems, the distributed round robin control problem, in which all agents trace a circle with a fixed center, is an attractive and challenging research direction.
Inspired by three major rules proposed by Akira Okubo ("dynamic aspects of animal grouping: swarms, zools, flocks, and circles," Advances in biophysics,1986,22:1-94.), n.e.leonard and e.firellin.at the 40 th conference of control and decision ("visual drivers, intellectual properties and coordinated control of groups," Orlando, FL, USA,2001, pp.2968-2973), it was initially proposed how to design a controller to complete a circular formation of fully driven objects, wherein a non-linear function was introduced to assist the fully driven objects to keep a certain distance. Compared with the single-integral or double-integral model used by the two scientific documents, the dynamic model provided by the invention is more consistent with the actual motion situation of the general vehicles.
Sepulture et al ("Stabilization of planar collective movement with limited communication," IEEE Transactions Automatic Control, vol.53, No.3, pp.706-719,2008.) propose a Control algorithm that allows multiple agents to complete circular queuing when the network conditions can be described as directed cyclic graphs. A new circumferential queuing method is proposed by a jain and d.ghose (Stabilization of the circumferential movement in synchronized, balanced and space phase arrangements on a determined circle, "in proc. am. control con. (ACC), Chicago, IL, USA,2015, pp.731-736) so that multiple agents can perform circumferential queuing around a specified center of circle. However, these methods have two disadvantages. Firstly, the circle center is either given or unpredictable, so that the algorithm portability is poor; the second is that the algorithm requires extremely reliable network communication conditions, which requires a large amount of capital to implement.
Disclosure of Invention
The invention provides a method, a system and a storage medium for controlling circumferential formation of self-driven vehicles, which can solve the technical problems that the algorithm portability is poor, reliable network communication conditions are required and the cost is high because the existing method cannot realize prediction.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method of circle formation control of self-propelled vehicles, comprising performing, by a computer device, the steps of:
s100, establishing a dynamic model of the autonomous driving vehicle;
s200, designing a controller based on the dynamic model in the step S100;
and S300, acquiring information of the autonomous driving vehicles and realizing circular formation based on the controller in the step S200.
Further, the S100 establishes a dynamic model of the autonomous-driven vehicle, including:
establishing a system state equation:
i-1, 2, … …, n. wherein
Position information for autonomously driven vehicles, vi(t) cruise speed of the autonomous vehicle, θi(t) steering angle of autonomous-driving vehicle, ui(t) is a control input, i.e.
Further, the controller of S200 is designed by a reverse step design method, and specifically includes the following steps:
setting initial conditions: c. Ci(0),i＝1,2,……,N,d0,w0The network condition being the presence of a constant TObtaining a union graph with any time period with the length larger than T, wherein the union graph is in undirected communication;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
s201, distributed design initial phase angle position:
s2011, maximum consistency algorithm:
inputting:
n,a,T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka).
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) a set of autonomous vehicles communicating with the ith autonomous vehicle at time t;
s2012, an improved sequential arrangement algorithm:
inputting: idi,n,a,T
And (3) outputting: mi
fi＝idi,k＝n；
whilek≥1
miMaximum agreement algorithm (c)fi,n,a,T)；
if idi＝＝mi
Mi＝k,fi＝-∞；
end
k--；
end；
S2013, assigning an initial phase angle position:
s202, setting the controller:
s2021, designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0.
s2022, designing a circle center controller as follows:
s2023, ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
Meanwhile, the invention also discloses a circumferential formation control system of the self-driven vehicle, which comprises the following modules:
a model establishing unit for establishing a dynamic model of the autonomous driving vehicle;
a controller designing unit for designing the controller based on the kinetic model established by the model establishing unit;
and the circumference formation control unit is used for acquiring the information of the autonomous driving vehicle and realizing circumference formation based on the controller of the controller design unit.
The model establishing unit specifically executes the following steps:
establishing a system state equation:
i-1, 2, … …, n. wherein
Position information for autonomously driven vehicles, vi(t) cruise speed of the autonomous vehicle, θi(t) steering angle of autonomous-driving vehicle, ui(t) is a control input, i.e.
The controller design unit is designed by adopting a backstepping design method, and comprises the following specific steps:
setting initial conditions: c. Ci(0),i＝1,2,……,N,d0,w0The network condition is that a constant T exists, so that the union graph is in undirected communication in any time period with the length larger than T;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
s201, distributed design initial phase angle position:
s2011, maximum consistency algorithm:
inputting:
n,a,T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka).
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) a set of autonomous vehicles communicating with the ith autonomous vehicle at time t;
s2012, an improved sequential arrangement algorithm:
inputting: idi,n,a,T
And (3) outputting: mi
fi＝idi,k＝n；
while k≥1
miMaximum agreement algorithm (f)i,n,a,T)；
if idi＝＝mi
Mi＝k,fi＝-∞；
end
k--；
end；
S2013, assigning an initial phase angle position:
s202, setting the controller:
s2021, designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0.
s2022, designing a circle center controller as follows:
s2023, ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
In a third aspect, the present invention also discloses a storage medium, on which a computer program is stored, which, when executed by a processor, can implement the self-driven vehicle circular formation control method described above.
According to the technical scheme, the circle center controller and the phase angle controller can be kept in parallel by the circle center controller circumference formation control method of the self-driven vehicle, wherein the circle center controller is designed, can be combined with other intelligent algorithms to monitor circle center change in real time, and can be used for monitoring moving targets, forest fire spreading trends and the like; the initial value of the phase angle does not need to be manually designed, but is given by a distributed sorting algorithm, so that the applicability of the algorithm in various occasions is improved; in addition, the invention does not need an extremely reliable network environment and can endure the condition of temporary disconnection of the network.
The invention has the following beneficial effects:
1. the invention designs the circle center controller, and compared with the traditional method of giving the circle center in advance, the invention can be combined with other intelligent algorithms to be improved so as to complete complex tasks, such as signal source searching through a particle algorithm. The invention establishes a dynamic model of the autonomous driving vehicle, and the model can describe the motion state of the actual autonomous driving vehicle more than a single integral or double integral model.
2. In a general method for controlling the circular formation of self-driven vehicles, a communication network between the self-driven vehicles is required to be extremely reliable, and a large amount of money is spent to obtain the communication network condition, so that waste is caused. The circumference formation control method of the self-driven vehicle can complete the circumference formation task in a poor network environment and can tolerate the packet loss of a communication network.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
fig. 2 is a schematic diagram of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1 and fig. 2, the method for controlling circumferential formation of self-propelled vehicles according to the present embodiment includes the following steps performed by a computer device:
s100, establishing a dynamic model of the autonomous driving vehicle;
s200, designing a controller based on the dynamic model in the step S100;
and S300, acquiring information of the autonomous driving vehicles and realizing circular formation based on the controller in the step S200.
The following is a detailed description:
the dynamic model of the autonomous driving vehicle in step S100 is as follows:
establishing a system state equation:
i-1, 2, … …, n. wherein
Position information for autonomously driven vehicles, vi(t) cruise speed of the autonomous vehicle, θi(t) steering angle of autonomous-driving vehicle, ui(t) is a control input, i.e.
In step S200, the controller is designed by a reverse step design method, specifically including the steps of:
setting initial conditions: c. Ci(0),i＝1,2,……,N,d0,w0The network condition is that a constant T exists, so that the union graph is in undirected communication in any time period with the length larger than T;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
the method comprises the following specific steps:
1) distributed design initial phase angle position:
1.1) maximum agreement algorithm:
inputting:
n,a,T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka).
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) is the set of autonomous vehicles that communicate with the ith autonomous vehicle at time t.
1.2) improved sequencing algorithm:
inputting: idi,n,a,T
And (3) outputting: mi
fi＝idi,k＝n；
while k≥1
miMaximum agreement algorithm (f)i,n,a,T)；
if idi＝＝mi
Mi＝k,fi＝-∞；
end
k--；
end；
1.3) assigning an initial phase angle position:
2) the controller is provided with:
2.1) designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0.
2.2) the circle center controller is designed as follows:
2.3) ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
Therefore, the self-driven vehicle circumference formation control method provided by the embodiment of the invention is different from the conventional circumference formation control method, firstly, the requirement on network reliability is low, the communication is not required to be ensured to be uninterrupted every moment among the self-driven vehicles, and the difficulty and the capital cost of network arrangement are greatly reduced. Secondly, the circle center controller is introduced to enable the self-driven vehicles to form a team quickly, compared with an artificial designated center, the problems that the circle center position is unreasonable in design and the like are solved, and other intelligent algorithms can be introduced to design the circle center controller to enable the self-driven vehicles to complete complex tasks, such as monitoring forest fire propagation, harmful gas diffusion range, tracking moving objects and the like. Different from the design of a common controller, the invention provides a distributed algorithm for designing phase angle parameters, so that self-driven vehicles can be uniformly distributed near the circle center, and the portability of the algorithm is greatly improved.
Meanwhile, the embodiment of the invention also discloses a circumferential formation control system of the self-driven vehicle, which comprises the following modules:
a model establishing unit for establishing a dynamic model of the autonomous driving vehicle;
a controller designing unit for designing the controller based on the kinetic model established by the model establishing unit;
and the circumference formation control unit is used for acquiring the information of the autonomous driving vehicle and realizing circumference formation based on the controller of the controller design unit.
The model establishing unit specifically executes the following steps:
establishing a system state equation:
i-1, 2, … …, n. wherein
Position information for autonomously driven vehicles, vi(t) cruise speed of the autonomous vehicle, θi(t) steering angle of autonomous-driving vehicle, ui(t) is a control input, i.e.
The controller design unit is designed by adopting a backstepping design method, and comprises the following specific steps:
setting initial conditions: c. Ci(0),i＝1,2,……,N,d0,w0The network condition is that a constant T exists, so that the union graph is in undirected communication in any time period with the length larger than T;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
s201, distributed design initial phase angle position:
s2011, maximum agreement algorithm:
inputting:
n,a,T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka).
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) a set of autonomous vehicles communicating with the ith autonomous vehicle at time t;
s2012, an improved sequential arrangement algorithm:
inputting: idi,n,a,T
And (3) outputting: mi
fi＝idi,k＝n；
whilek≥1
miMaximum agreement algorithm (f)i,n,a,T)；
if idi＝＝mi
Mi＝k,fi＝-∞；
end
k--；
end；
S2013, assigning an initial phase angle position:
s202, setting the controller:
s2021, designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0.
s2022, designing a circle center controller as follows:
s2023, ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
It is understood that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and the explanation, the example and the beneficial effects of the related contents can refer to the corresponding parts in the method.
The embodiment of the application also provides an electronic device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus,
a memory for storing a computer program;
the processor is used for realizing the self-driven vehicle circumference formation control method when executing the program stored in the memory, and the method comprises the following steps:
establishing a dynamic model of an autonomous driving vehicle;
designing a controller based on a dynamic model;
based on the controller, information of the autonomous driving vehicle is obtained and circular formation is realized.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM), or may include a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other Programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.
In yet another embodiment provided by the present application, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling formation of a self-propelled vehicle circumference.
In yet another embodiment provided by the present application, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the self-propelled vehicle circular formation control methods of the above embodiments.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. A circle formation control method for self-driven vehicles is characterized by comprising the following steps: performing, by a computer device, the steps of:
s100, establishing a dynamic model of the autonomous driving vehicle;
s200, designing a controller based on the dynamic model in the step S100;
s300, acquiring information of the autonomous driving vehicles and realizing circular formation based on the controller in the step S200;
wherein the S100 establishes a dynamic model of the autonomous-driven vehicle, including:
establishing a system state equation:
1,2
Position information for autonomously driven vehicles, vi(t) is the cruising speed of the ith autonomous-powered vehicle, thetai(t) is the steering angle of the ith autonomous-powered vehicle, ui(t) is a control input to the controller,
the controller of S200 is designed by a backstepping design method, and the specific steps are as follows:
setting initial conditions: c. Ci(0) 1,2,.. 7., N and d0，w0The network condition is that a constant T exists, so that the union graph is in undirected communication in any time period with the length larger than T;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
s201, distributed design initial phase angle position:
s2011, maximum consistency algorithm:
inputting:
n，a，T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka)；
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) a set of autonomous vehicles communicating with the ith autonomous vehicle at time t;
s2012, an improved sequential arrangement algorithm:
inputting: idi，n，a，T
And (3) outputting: mi
fi＝idi，k＝n；
while k≥1
miMaximum agreement algorithm (f)i，n，a，T)；
if idi＝＝mi
Mi＝k，fi＝-∞；
end
k--；
end；
S2013, assigning an initial phase angle position:
s202, setting the controller:
s2021, designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0；
s2022, designing a circle center controller as follows:
s2023, ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
2. A self-propelled vehicle circumferential formation control system, characterized by:
the system comprises the following modules:
a model establishing unit for establishing a dynamic model of the autonomous driving vehicle;
a controller designing unit for designing the controller based on the kinetic model established by the model establishing unit;
the circumference formation control unit is used for acquiring the information of the autonomous driving vehicle and realizing circumference formation based on the controller of the controller design unit;
the model establishing unit specifically executes the steps of:
establishing a system state equation:
1,2
Position information for autonomously driven vehicles, vi(t) cruise speed of the autonomous vehicle, θi(t) steering angle of autonomous-driving vehicle, ui(t) is a control input to the controller,
the controller design unit is designed by adopting a reverse step design method and comprises the following specific steps:
setting initial conditions: c. Ci(0) 1,2,.. 7., N and d0，w0The network condition is that a constant T exists, so that the union graph is in undirected communication in any time period with the length larger than T;
wherein, ci(0) For the initial estimation of the center of a circle for the ith autonomous vehicle, d0For a previously set radius of rotation, w0Is a rotational angular velocity set in advance;
s201, distributed design initial phase angle position:
s2011, maximum consistency algorithm:
inputting:
n，a，T
and (3) outputting: m isi
k＝1；
k++；
end
mi＝xi(t+ka)；
Where a is the time required for one data exchange, ceil (-) is an upward rounding function, Ni(t) a set of autonomous vehicles communicating with the ith autonomous vehicle at time t;
s2012, an improved sequential arrangement algorithm:
inputting: idi，n，a，T
And (3) outputting: mi
fi＝idi，k＝n；
while k≥1
miMaximum agreement algorithm (f)i，n，a，T)；
if idi＝＝mi
Mi＝k，fi＝-∞；
end
k--；
end；
S2013, assigning an initial phase angle position:
s202, setting the controller:
s2021, designing a function h (x) satisfying the following conditions
a. The function h (x) is bounded;
b. the function h (x) is strictly increasing;
c.xh(x)≥0；
s2022, designing a circle center controller as follows:
s2023, ith phase angle controller settings are as follows:
wherein k is1，k2，k3Is a constant greater than zero, I is a 2 x 2 unit array,
eiand (t) is a phase angle configuration error.
3. A storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the self-propelled vehicle circular formation control method of claim 1.
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