Title :
Optimal formation control of two-wheeled vehicles using model predictive control
Author :
Hoshikawa, Koki ; Zanma, Tadanao ; Ogura, Noriaki ; Liu, Kang-Zhi
Author_Institution :
Graduate School of Engineering, Chiba University, 1-33 Yayoi, Inage, Chiba, 263-8522 Japan
fDate :
May 31 2015-June 3 2015
Abstract :
This paper addresses an optimal formation control of multiple two-wheeled mobile vehicles with the help of model predictive control. An optimal formation is automatically determined among pre-defined formations in real time according to the environment with the help of model predictive control. Experimental results are demonstrated to verify the effectiveness of the proposed approach.
Keywords :
Mobile communication; Optimization; Predictive control; Real-time systems; Switches; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Conference (ASCC), 2015 10th Asian
Conference_Location :
Kota Kinabalu, Malaysia
DOI :
10.1109/ASCC.2015.7244694
