In this paper, we propose a distributed model predictive control strategy for vehicle teams described by linear time-invariant models and organized as leader-follower configurations. Based on mild assumptions on vehicle communication facilities, the obstacle avoidance path planning problem is addressed by developing a parallel scheme which takes advantage of feasibility arguments in order to safely reorganize, whenever necessary, the vehicle team.
Multi-vehicle formation control in uncertain environments
Franze G.
;Lucia W.;Famularo D.
2017-01-01
Abstract
In this paper, we propose a distributed model predictive control strategy for vehicle teams described by linear time-invariant models and organized as leader-follower configurations. Based on mild assumptions on vehicle communication facilities, the obstacle avoidance path planning problem is addressed by developing a parallel scheme which takes advantage of feasibility arguments in order to safely reorganize, whenever necessary, the vehicle team.File in questo prodotto:
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