Collision avoidance and path following for multi-agent dynamical systems

Ionela Prodan 1 Sorin Olaru 1 Cristina Stoica 1 Silviu-Iulian Niculescu 2
1 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]
2 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a real-time optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.
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Conference papers
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https://hal-supelec.archives-ouvertes.fr/hal-00528298
Contributor : Josiane Dartron <>
Submitted on : Thursday, October 21, 2010 - 3:11:47 PM
Last modification on : Tuesday, June 4, 2019 - 11:08:06 AM

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  • HAL Id : hal-00528298, version 1

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L2S | SUP_LSS | SUP_SYSTEMES | SUPELEC | TDS-MACS | SUP_AUTO

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Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Collision avoidance and path following for multi-agent dynamical systems. International Conference on Control, Automation and Systems ICCAS, Oct 2010, Gyeonggi-do, South Korea. pp.1930-1935. ⟨hal-00528298⟩

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