Synchronized Tracking Control Design for Autonomous Vehicle Formation Based on Multi-Source Error Fusion

To solve the problem of low efficiency of single autonomous vehicle individuals in complex environments, this paper proposes a synchronized tracking control method of autonomous vehicle formation with multi-source error fusion. Firstly, taking an individual autonomous vehicle as the research object, a normalized double integrator vehicle mathematical model is established to obtain the control objective of the formation. Secondly, by combining the synchronization error and the tracking error to form a multi-source fusion error with a compensation mechanism, the synchronization control problem of the formation is transformed into a stability problem of each fusion error variable. Then, on the basis of the multi-source fusion error, the formation synchronized tracking controller is designed to make the vehicle track the trajectory with relative deviation by introducing the position deviation and auxiliary variables, so as to transform the formation control problem into the synchronization tracking problem, and to solve the problem of formation geometry configuration that cannot be achieved by controlling a single state variable such as speed or position alone. Finally, the feasibility of the proposed scheme is verified by numerical simulation experiments as well as practical tests.