Co-Operative Team Control of Autonomous Vehicles by Improved Leader Follower Algorithm in WSN Environment

Abstract

When the vehicle-mounted sensor is damaged or the external environment is strongly interfered with the working environment, the traditional Robot Leader-Follower control method will not work [1-9]. In view of the above problems, a network-based formation control algorithm is proposed. The research work of the algorithm mainly includes two parts: First, the establishment of a nonlinear incremental control kinematics model for mobile robot formation, research and implementation of formation algorithm Formation process; Second, rewrite the controller under the environment of wireless sensor network. The controller is optimized for the formation control algorithm in the network environment, and redistributes the computing tasks based on the traditional algorithm, a formation retainer is designed to enable the robot formation to adjust the formation in real time The calculation task is not only realized by the Leader, Followers also participate in part of the calculation, reducing the burden and calculation amount of the Leader, thereby making the formation control more coordinated and flexible, and realizes the formation process of the robot. This paper designs a multi robot formation control and tracking algorithm based on improved leader follower in wireless sensor environment. In this algorithm, the robot formation is composed of a leader and several followers. All robots are equipped with multiple sensors, but only the leader robot has the navigation function and enough computing power to implement the proposed algorithm. Experiment shows that under the same conditions, software simulation and physical formation experiments are performed on the standard Leader-Follower control algorithm and proposed algorithm respectively. By comparing and analyzing the effectiveness of the two formation methods, the proposed method has higher stability, smaller error, shorter formation time, and the formation algorithm is feasible.