 |
ECOLE SUPÉRIEURE D'ÉLECTRICITÉ Une grande école d'ingénieurs au cœur des sciences de l'information,de l'énergie et des systèmes |
 |
Conference papers
Collision avoidance and path following for multi-agent dynamical systems
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.
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, April 14, 2020 - 10:32:12 AM
Contributor : Josiane Dartron <>
Submitted on : Thursday, October 21, 2010 - 3:11:47 PM
Last modification on : Tuesday, April 14, 2020 - 10:32:12 AM
