Distributed receding horizon control for nonholonomic multi-vehicle system with collision avoidance

The synchronous distributed receding horizon control for nonholonomic multi-vehicle system is developed in this paper. We contribute by proposing a boundary constraint to limit the deviation between the assumed and actual trajectories of each vehicle, giving the collision avoidance constraint respecting the effect of deviation, and designing the terminal constraint and the associated terminal controller. By incorporating the inherent dynamic constraint, input constraint, and the proposed constraints into the optimization problem, a synchronous distributed receding horizon control algorithm is presented, with recursive feasibility. Through a comparison and an illustrative simulation, we demonstrate the positive invariance of the designed terminal region and the effectiveness of the presented algorithm, respectively.