MPC based motion control of car-like vehicle swarms
MPC based motion control of car-like vehicle swarms
复制标题
基于 MPC 的类车群运动控制
DOI：
10.1109/med.2007.4433686
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
J. Baras
中科院分区：
文献类型：
--
作者：
W. Xi;J. Baras
本文针对无人机机群的应用，研究了小车的低层运动控制问题。首先，一个次优的连续曲率轨迹生成方法进行了研究，以产生次优的参考轨迹（“轨道”）连接所需的路点序列。两个模型预测控制（MPC）为基础的“跟踪”控制方法，然后提出了处理在实践中存在的多个约束，例如，执行器饱和，局部碰撞避免。仿真结果进一步验证了运动控制设计的正确性。
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.