Multi-Agent Vehicle Formation Control Based on MPC and Particle Swarm Optimization Algorithm

The formation control problem of intelligent driving vehicles originates from the research on task planning and cooperation of multi-agent system, which is mainly aimed at how multi-intelligent driving vehicles cooperate to complete multi-task team driving behaviors such as formation preparation, formation maintenance, formation change and obstacle avoidance in traffic environment. From the control point of view, The vehicle queue is controlled by a plurality of single vehicle nodes, and individual vehicles are controlled through information interaction among the nodes, and then coupled with each other to form a dynamic system, so that the vehicle queue forms a multi-agent system, which is modeled and analyzed to realize an adaptive formation control model based on MPC and particle swarm optimization algorithm. Finally, Collaborative control of intelligent vehicle formation is simulated to achieve coordinated control of vehicle queue based on multi-agent system.