A triple closed-loop control strategy for intelligent two-car chasing system based on particle swarm optimization

A triple closed-loop control strategy for intelligent two-car chasing system based on particle swarm optimization

Li ZhangYunshuo Zhang Qiang Jin Dongming Wang Tao Zhang 

College of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China

Corresponding Author Email: 
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31 August 2017
| Citation



This paper aims to acheive the optimal control of the safe distance and speed for the intelligent two-car chasing system in China’s National University Students Intelligent Car Race. For this puprose, a triple closed-loop control strategy was designed based on particle swarm optimization (PSO), and verified through simulation and experiment. The results show that, when the two cars were kept apart by a safe distance, the fastest speed was 2.04m/s, close to that (2m/s) of the champion team. This means the proposed control strategy can effectively control the distance and speed of intelligent car chase, and enjoys strong self-learning ability and adaptability. The findings provide a technical reference for future Intelligent Car Races and lay the basis for the development of intelligent autopilot technology.


three closed -loop control, two-car chasing, particle swarm optimization (PSO), PID

1. Introduction
2. Overall design of the system
3. The control algorithm based on PSO
4. Simulation and actual tests
5. Conclusions

This work was supported in part by National Natural Science Foundation of China under Grant (No. 61403284), Henan open laboratory project (No. KG2016-7), Key scientific research project of colleges and Universities in Henan (No. 18A470014) and The Doctoral fund of Henan Polytechnic University (No. B2017-20).


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