The control of non-holonomic vehicles require a joint control of the vehicle's position and orientation (pose). Pose Control of multiple non-holonomic Connected and Automated Vehicles (CAVs) is computationally complex. This paper investigates a method for pose control of multiple non-holonomic CAVs that distributes the computations among the CAVs. To this end, we use a Distributed Model Predictive Control (DMPC) approach that is based on synchronization. This approach is purely distributed and does not require any central entity. The CAVs follow their reference trajectories while avoiding collisions. We generate the reference trajectories by considering the non-holonomic dynamics of the CAVs. Our demonstration on scaled CAVs shows the applicability of this approach. Furthermore, our evaluation shows the scalability of this approach in the numbers of CAVs.
Cooperative Pose Control of Non-Holonomic Vehicles Using Synchronization
2023-09-24
677069 byte
Conference paper
Electronic Resource
English
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