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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Model predictive control of cooperative vehicles using systematic search approach


    Beteiligte:
    Rochefort, Y. (Autor:in) / Piet-Lahanier, H. (Autor:in) / Bertrand, S. (Autor:in) / Beauvois, D. (Autor:in) / Dumur, D. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2014


    Format / Umfang :

    14 Seiten, 20 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control

    Andrade, Fabio / Hovenburg, Anthony Reinier / de Lima, L. N. et al. | BASE | 2019

    Freier Zugriff

    Autonomous unmanned aerial vehicles in search and rescue missions using real-time cooperative model predictive control

    de Alcantara Andrade, Fabio Augusto / Hovenburg, Anthony Reinier / Netto de Lima, Luciano et al. | BASE | 2019

    Freier Zugriff

    Autonomous unmanned aerial vehicles in search and rescue missions using real-time cooperative model predictive control

    de Alcantara Andrade, Fabio Augusto / Hovenburg, Anthony Reinier / Netto de Lima, Luciano et al. | BASE | 2019

    Freier Zugriff

    Cooperative Search by UAV Teams: A Model Predictive Approach using Dynamic Graphs

    Riehl, J. R. / Collins, G. E. / Hespanha, J. P. | IEEE | 2011