Cooperative motion control of multiple intelligent vehicles for communication, navigation and obstacle avoidance based on ROS

The invention provides a cooperative motion control algorithm among multiple intelligent vehicles for communication, navigation and obstacle avoidance based on a robot operating system (ROS) for short. All intelligent vehicles can process road condition information through a binocular camera module to obtain a data set formed by road condition photos, the data set is transmitted to a jetson TX2 mainboard in a python code mode, and the jetson TX2 mainboard carries out SLAM (positioning and mapping) environment building for short. When a navigator intelligent vehicle (a navigator for short) encounters an obstacle, a mainboard receives abnormal data set information and sends an obstacle avoidance instruction to a main controller through a python code in an ROS node, and an intelligent vehicle controller receives the instruction to change the rotating speed of a steering engine and the rotating speed of double motors so as to complete obstacle avoidance. Meanwhile, a jetson TX2 main board of the follower intellig