Modelling of grouped vehicles within a cellular spatial structure

A new framework for multiple vehicle system modelling and control is proposed in this paper, in consideration of the existence of roads and turning vehicles. This framework integrates the path selection and vehicle formation in one systematic structure. The movement of the leader is modelled as a discrete state system within a cellular map, and the movement of the follower is modelled as a hybrid system, including the leader-follower interface. The advantage of this model framework is that, it abstracts the main features of the dynamics of multiple vehicle system in high dimensional spaces into one dimensional cellular space and, simplifies and extends the model of followers. The effectiveness of the new framework is illustrated by a simulation in the end