DocumentCode :
2809440
Title :
MPC based motion control of car-like vehicle swarms
Author :
Xi, Wei ; Baras, John S.
Author_Institution :
Western Digital Corp. Lake Forest, Lake Forest
fYear :
2007
fDate :
27-29 June 2007
Firstpage :
1
Lastpage :
6
Abstract :
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.
Keywords :
mobile robots; motion control; multi-robot systems; predictive control; remotely operated vehicles; road vehicles; suboptimal control; UAV swarms; car-like vehicle swarms; model predictive control; motion control; suboptimal continuous-curvature trajectory generation; suboptimal reference trajectory; track following control; Kinematics; Military computing; Mobile robots; Motion control; Path planning; Predictive models; Remotely operated vehicles; Trajectory; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control & Automation, 2007. MED '07. Mediterranean Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-1282-2
Electronic_ISBN :
978-1-4244-1282-2
Type :
conf
DOI :
10.1109/MED.2007.4433686
Filename :
4433686
Link To Document :
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