Model predictive based dynamic path planning for single target tracking and formation

In this paper, a new algorithm is presented to guide a set of robots, modeled as vehicles, toward a moving object and dynamically decide whether to track the object or search in entire mission region for future objects. The trajectory of object is unknown and vehicles are supposed to determine their movements, based on the predicted object trajectory. To meet the goals of algorithm, a new cost function is designed to satisfy the goal of the algorithm. Model predictive control has been used to provide this feature. Each robot´s path planning would be based on solving a sequential optimization problem which determines that which of them follows the searcher and which of them position at most probable points.