Model predictive control of cooperative vehicles using systematic search approach

Yann Rochefort; H. Piet-Lahanier; S. Bertrand; Dominique Beauvois; Didier Dumur

doi:10.1016/j.conengprac.2014.01.003

Model predictive control of cooperative vehicles using systematic search approach

Yann Rochefort ^{1, 2} H. Piet-Lahanier ² S. Bertrand ² Dominique Beauvois ¹ Didier Dumur ¹

1 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]

2 Palaiseau - ONERA - The French Aerospace Lab

Abstract : 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.

keyword : Cooperative model predictive control

Type de document :

Article dans une revue

Control Engineering Practice, Elsevier, 2014, 32, pp.204-217. 〈10.1016/j.conengprac.2014.01.003〉

Domaine :

Sciences de l'ingénieur [physics]

Liste complète des métadonnées

https://hal-supelec.archives-ouvertes.fr/hal-01084055
Contributeur : Pascale Lepeltier <>
Soumis le : mardi 18 novembre 2014 - 14:24:09
Dernière modification le : jeudi 29 mars 2018 - 11:06:05

Model predictive control of cooperative vehicles using systematic search approach

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