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.


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    Title :

    Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles


    Contributors:


    Publication date :

    2019-06-01


    Size :

    1056135 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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