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Mathematical Problems in Engineering
Volume 2012, Article ID 241916, 19 pages
Research Article

Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China

Received 21 August 2012; Revised 13 October 2012; Accepted 17 October 2012

Academic Editor: Jun-Juh Yan

Copyright © 2012 Ming Lei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.