Model predictive control of cooperative vehicles using systematic search approach
Model predictive control of cooperative vehicles using systematic search approach
- New search for: Rochefort, Y.
- New search for: Piet-Lahanier, H.
- New search for: Bertrand, S.
- New search for: Beauvois, D.
- New search for: Dumur, D.
- New search for: Rochefort, Y.
- New search for: Piet-Lahanier, H.
- New search for: Bertrand, S.
- New search for: Beauvois, D.
- New search for: Dumur, D.
This paper describes the guidance law design of a group of autonomous cooperative vehicles using model predictive control. The developed control strategy allows one to find a feasible near optimal control sequence with a short and constant computation delay in all situations. The control strategy takes other vehicles predicted positions into account for cooperation purpose. Numerical simulations are provided where a group of quadrotors must reach several way-points while avoiding obstacles and collisions inside the group. Results obtained using a realistic model of small quadrotors show that the approach could be usable in practice.
Document information
Model predictive control of cooperative vehicles using systematic search approach
Control Engineering Practice ; 32 ; 204-217
2014
14 Seiten, 20 Quellen
Article (Journal)
English