Distributed Receding Horizon Control for Nonholonomic Multi-vehicle System with Collision Avoidance

被引：0
|
作者：
Wang Peng [1 ]
Ding Baocang [1 ]
Zou Tao [2 ]
机构：
[1] Xi An Jiao Tong Univ, Sch Elect & Informat Engn, Dept Automat,Minist Educ, Key Lab Intelligent Networks & Network Secur MOE, Xian 710049, Peoples R China
[2] Zhejiang Univ Technol, Dept Automat, Hangzhou 310032, Zhejiang, Peoples R China
来源：
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年
关键词：
Distributed receding horizon control (DRHC); Synchronous strategy; Nonholonomic multi-vehicle system; Collision avoidance; MODEL-PREDICTIVE CONTROL; TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：6327 / 6332
页数：6
相关论文
共 50 条
  • [1] Distributed receding horizon control for multi-vehicle formation stabilization
    Dunbar, WB
    Murray, RM
    AUTOMATICA, 2006, 42 (04) : 549 - 558
  • [2] Receding horizon control of multi-vehicle formations: A distributed implementation
    Dunbar, WB
    Murray, RM
    2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, : 1995 - 2002
  • [3] Decentralized robust receding horizon control for multi-vehicle guidance
    Kuwata, Yoshiaki
    Richards, Arthur
    Schouwenaars, Tom
    How, Jonathan P.
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 2047 - +
  • [4] Semi-Distributed Receding Horizon Control for Multi-Vehicle System with Mobile Ad-hoc Network
    Murayama, Toru
    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2014, : 465 - 470
  • [5] Distributed model predictive control for multi-vehicle formation with collision avoidance constraints
    Fukushima, Hiroaki
    Kon, Kazuyuki
    Matsuno, Fumitoshi
    2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 5480 - 5485
  • [6] Receding horizon multi-vehicle routing for emergency scenarios
    Chini, G.
    Poli, C.
    Oddi, G.
    Pietrabissa, A.
    Grigioni, M.
    2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2014, : 374 - 379
  • [7] A variable communication approach for decentralized receding horizon control of multi-vehicle systems
    Izadi, H. A.
    Gordon, B. W.
    Rabbath, C. A.
    2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 5847 - +
  • [8] A Receding Horizon Scheme for Constrained Multi-vehicle Coverage Problems
    Tahirovic, Adnan
    Brkic, Mehmed
    Bostan, Aldin
    Seferagic, Benjamin
    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2016, : 4652 - 4656
  • [9] A Hybrid Framework for Multi-Vehicle Collision Avoidance
    Dhinakaran, Aparna
    Chen, Mo
    Chou, Glen
    Shih, Jennifer C.
    Tomlin, Claire J.
    2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2017,
  • [10] Adaptive Cruise Control with Collision Avoidance in Multi-Vehicle Traffic Situations
    Moon, Seungwuk
    Yi, Kyongsu
    Kang, HyongJin
    Yoon, Paljoo
    SAE INTERNATIONAL JOURNAL OF PASSENGER CARS-MECHANICAL SYSTEMS, 2009, 2 (01): : 653 - 660
12345