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Model predictive control of cooperative vehicles using systematic search approach

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.
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https://hal-supelec.archives-ouvertes.fr/hal-01084055
Contributor : Pascale Lepeltier <>
Submitted on : Tuesday, November 18, 2014 - 2:24:09 PM
Last modification on : Friday, June 26, 2020 - 2:04:03 PM

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Yann Rochefort, H. Piet-Lahanier, S. Bertrand, Dominique Beauvois, Didier Dumur. Model predictive control of cooperative vehicles using systematic search approach. Control Engineering Practice, Elsevier, 2014, 32, pp.204-217. ⟨10.1016/j.conengprac.2014.01.003⟩. ⟨hal-01084055⟩

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