This paper investigates a method for pose control of multiple nonholonomic vehicles using time-optimal control in a Model Predictive Control (MPC) framework. The vehicles are driving on a limited space considering field boundaries to build-up a formation. Distributed Model Predictive Control (DMPC) in a priority-based manner reduces computation time and avoids vehicle collisions. Priorities are automatically set by evaluating the target poses of the vehicles. We demonstrate our method in simulations. It produces near-optimal trajectories and reduces the compuation time in comparison to centralized MPC.
Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles
2019 IEEE Intelligent Vehicles Symposium (IV) ; 1620-1625
2019-06-01
1056135 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch