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论文:2012,Vol:30,Issue(3):373-377 |
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引用本文： |
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来磊, 曲仕茹. 基于鱼群效应的多车协同行驶控制方法[J]. 西北工业大学 |
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Lai Lei, Qu Shiru. An Effective Swarm Vehicle Coordinative Traffic Control Design Based on Fish Swarm Grouping Behavior[J]. Northwestern polytechnical university |
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| 基于鱼群效应的多车协同行驶控制方法 |
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| 来磊, 曲仕茹 |
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| 西北工业大学 自动化学院,陕西 西安 710072 |
| 摘要: |
| 针对提高道路中多车行驶协同性问题,将鱼群群体行为效应引入到车辆的行驶控制中。通过对鱼群群体集群、游动行为一致性的研究,采用邻域平均法和改进的人工势场函数构造鱼群群体移动数学模型,将该移动数学模型应用到多车协同控制中,根据车辆行驶的常见运动行为,建立基于群体行为的车辆群体行驶、避障、队形变换控制方法,使行驶车辆间具有群体协同性、一致性,以提高车辆对环境的感知适应力。通过仿真实验得到的车辆行驶路径轨迹验证了该协同控制方法的有效性。 |
| 关键词:
智能交通
鱼群效应
车辆协同控制
主动安全
智能车辆
交通控制
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| An Effective Swarm Vehicle Coordinative Traffic Control Design Based on Fish Swarm Grouping Behavior |
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| Lai Lei, Qu Shiru |
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| Department of Automatic Control,Northwestern Polytechnical University,Xi'an 710072,China |
| Abstract: |
| The fish swarm performs a collective movement, which is considered as a typical advanced self-organizedbehavior. We believe this property will increase the inter-coordination and improve the active safety for vehicles onroad. Sections 1 and 2 of the full paper explain the traffic control design mentioned in the title,which we believe iseffective and whose core consists of: "After analyzing the fish swarm grouping behavior,we first construct the mod-el of fish swarm behavior by an improved artificial potential function,a physical term introduced here for the pur-pose of collision avoidance. The artificial potential function keeps individuals suitably distant from each other; sim-ultaneously each individual fish’ s moving direction is the average of those of its neighbors,which keeps the swarmmovement inter-coordinated. Then our swarm vehicle coordinative traffic control design is done with three controllaws: movement,collision avoidance,and formation transformation. "The simulation results,given in Figs. 2 and4,and the vehicle trajectory analysis show preliminarily that our swarm vehicle coordinative traffic control design isindeed effective. |
| Key words:
artificial intelligence
collision avoidance
control
design
dynamic positioning
equations of motion
mathematical models
schematic diagrams
synchronization
traffic control
trajectories;active safety
fish swarm
intelligent transport system
simulation
vehicle coordinative control
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| 收稿日期: 2011-05-12
修回日期:
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| DOI: |
| 基金项目: 教育部博士点基金(20096102110027)；陕西省工业攻关项目(2008KD7-14)资助 |
| 通讯作者:
Email： |
| 作者简介: 来磊(1983-),西北工业大学博士研究生,主要从事智能交通、信息处理及机器人控制的研究。
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| 来磊 在本刊中的所有文章 |
| 曲仕茹 在本刊中的所有文章 |
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