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 15 novembre 2018 - 08:38:45

Model predictive control of cooperative vehicles using systematic search approach

Identifiants

Collections

Citation

Exporter

Métriques

159

Contact

Model predictive control of cooperative vehicles using systematic search approach

Identifiants

Collections

Citation

Exporter

Partager

Métriques

159

Contact