关键词: 多车编队；跟随模式；智能车；PID；无线通信网络

Abstract: Multi-intelligent cart formation has to effectively control the formation and running route of the formation in the running process, and at the same time, it also has to complete effective obstacle avoidance. In order to ensure the smooth operation of multi-intelligent body cart formation, this time the wireless fidelity (WIFI) wireless communication technology is used to build a multi-vehicle formation intelligent control research experimental platform. The distributed control form is used to build the system architecture of multi-intelligent trolley set of perception, communication, and control multi-module; the intelligent trolley distributed autonomous decision making procedure is designed to realise the modes of multi-intelligent trolley free running, following and collaborating; the fuzzy proportion-integration-differentiation (PID) control algorithm is used to design the fleet-following control algorithm, and the collaborative algorithm is used to carry out the communication, which will in turn realise the multi-intelligent trolley's formation control task. The designed multi-intelligent trolley formation system is verified in the experimental platform built, and the results show that the multi-intelligent trolley formation control system can well control the trolley formation to complete the following movement and obstacle avoidance in the experimental environment.

Key words: Multi-vehicle formation; Following mode; Intelligent vehicle; PID; Wireless communication network