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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
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.
keyword :
Cooperative model predictive control
https://hal-supelec.archives-ouvertes.fr/hal-01084055
Contributor : Pascale Lepeltier Connect in order to contact the contributor
Submitted on : Tuesday, November 18, 2014 - 2:24:09 PM
Last modification on : Tuesday, March 16, 2021 - 3:44:42 PM
Contributor : Pascale Lepeltier Connect in order to contact the contributor
Submitted on : Tuesday, November 18, 2014 - 2:24:09 PM
Last modification on : Tuesday, March 16, 2021 - 3:44:42 PM