Vehicle Formation Control Based on Generalized Udwadia-Kalaba Equation

The coordinated parallel driving of autonomous vehicles in formation not only optimizes road space utilization but also enhances road efficiency, contributing to the reduction of traffic congestion. Hence, it is necessary to impose diverse constraints on the vehicle to ensure its adherence to the intended trajectory. The constraints of mechanical systems are generally categorized into equality constraints and inequality constraints. This paper adopts a constraint-following methodology by leveraging the generalized Udwadia-Kalaba equation to design the self-driving vehicle formation system, considering both equality and inequality constraints within the system. Simulation experiments demonstrate that the method is not only simple and effective but also has good applicability in swarm systems.