Cooperative control method and system for multiple unmanned mine cars

The invention relates to a cooperative control method and system for multiple unmanned mine cars, and belongs to the technical field of control systems.The method comprises the steps that task information is obtained; a plurality of unmanned mine cars meeting task requirements are selected according to the cargo capacity information and the starting point information, and a mine car formation is formed; according to the terminal point information, determining a global optimal path through an improved ant colony algorithm; a leader is selected from the mine car formation, and other mine cars serve as followers; dividing the global optimal path into a plurality of sub-paths through a plurality of sub-target points; determining a local optimal path and a following path through an improved artificial potential field algorithm according to the position information of the leader; controlling the mine cars to move according to the real-time state data of each mine car; wherein when the real-time state data of the fo