Multi-unmanned ground vehicle formation and motion planning based on graph and fluid disturbance algorithm under external disturbances

This paper investigates the formation motion planning for multiple unmanned ground vehicles (UGVs) in a complex environment with moving threats and static obstacles. To this end, a formation motion planning algorithm based on rigid graph theory and fluid disturbance algorithm is designed. First, aiming at the formation control problem under external disturbances, the graph theory is applied to describe the cooperative relationship between multiple UGVs. Then, considering the distance constraints between UGVs, a leader-follower formation controller is designed based on the backstepping method. Theoretical analysis demonstrates that the convergence of the proposed control method can be guaranteed. Furthermore, aiming at the formation motion planning of the UGVs under complex dynamic environments, a motion planning approach is developed by resorting to the fluid disturbance algorithm, in which the leader UGV plans the overall trajectory of the formation system, and realizes the obstacle avoidance of the UGV formation systems. Finally, numerical simulations are carried out to verify the effectiveness of the proposed method.