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ECOLE SUPÉRIEURE D'ÉLECTRICITÉ Une grande école d'ingénieurs au cœur des sciences de l'information,de l'énergie et des systèmes |
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Journal articles
Path following with collision avoidance and velocity constraints for multi-agent group formations
Abstract : This paper deals with avoidance constraints 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 over a finite time horizon. Following a specified trajectory, the agents move in the same direction and eventually they end up in a particular formation. Combining the optimization-based control study with the ability of MPC to handle convex and non-convex constraints allows a thorough analysis of the motion control of a group of agents with linear dynamics subject to state constraints. Avoidance constraints are also added to the optimization problem when the agents are operating in an environment with obstacles. A flat trajectory is planned in the physical open space allowing the agents to maneuver successfully in such a dynamic environment and to reach a common objective.
Cited literature [15 references]
https://hal-supelec.archives-ouvertes.fr/hal-00593091
Contributor : Josiane Dartron Connect in order to contact the contributor
Submitted on : Monday, March 16, 2020 - 3:31:52 PM
Last modification on : Thursday, November 18, 2021 - 3:54:13 AM
Long-term archiving on: : Wednesday, June 17, 2020 - 2:15:48 PM
Contributor : Josiane Dartron Connect in order to contact the contributor
Submitted on : Monday, March 16, 2020 - 3:31:52 PM
Last modification on : Thursday, November 18, 2021 - 3:54:13 AM
Long-term archiving on: : Wednesday, June 17, 2020 - 2:15:48 PM
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