Multi-vehicle formation control based on branch-and-bound method compatible with collision avoidance problem
Multi-vehicle formation control based on branch-and-bound method compatible with collision avoidance problem
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DOI：
10.1109/iros.2007.4399111
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
K. Kon;H. Fukushima;F. Matsuno
中科院分区：
文献类型：
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作者：
K. Kon;H. Fukushima;F. Matsuno
提出了一种新的分枝定界（B&B）方法，用于减少模型预测控制中多车编队避碰控制在线优化的计算量。标准B&B算法的计算时间非常长的一个可能原因是，由于整数约束很少满足“松弛”问题，因此产生了如此多的子问题。所提出的方法的目的是减少子问题的基础上，考虑到碰撞避免问题的固有特性的一个新的分支规则。数值算例和实验表明，该方法大大减少了多车编队控制在线优化的计算时间。
This paper presents a new branch-and-bound (B&B) method to reduce the computational burden of online optimization in multi-vehicle formation control with collision avoidance that is formulated by model predictive control. One of the possible reasons for extremely heavy computation time of the standard B&B algorithm is that so many subproblems are generated since integer constraints are rarely satisfied in "relaxed" problems. The purpose of the proposed method is to decrease subproblems based on a new branching rule taking into account the inherent properties of collision avoidance problems. Numerical examples and experiments show that the proposed method drastically reduces computation time of online optimization for multi-vehicle formation control.