MPC based motion control of car-like vehicle swarms

In this paper we study low level motion control of car-like vehicles for applications of UAV swarms. First, a suboptimal continuous-curvature trajectory generation approach is studied to generate suboptimal reference trajectories (´tracks´) to connect desired way-point sequences. Two model predictive control (MPC) based ´track following´ control approaches are then proposed to deal with the multiple constraints present in practice; for example, actuator saturation, local collision avoidance. Simulations further confirm the motion control design.