Optimal Automatic Formation Control for Two-Wheeled Vehicles Using Model Predictive Control with Temporal Logic Constraints

被引：0

作者：

Haga, Shunta ^{[1
]}

Zanma, Tadanao ^{[2
]}

Hoshikawa, Koki ^{[1
]}

Liu, Kang-Zhi ^{[2
]}

机构：

[1] Chiba Univ, Grad Sch Sci & Engn, Chiba, Japan

[2] Chiba Univ, Dept Elect & Elect Engn, Chiba, Japan

来源：

PROCEEDINGS 2018 12TH FRANCE-JAPAN AND 10TH EUROPE-ASIA CONGRESS ON MECHATRONICS | 2018年

关键词：

formation control; model predictive control; temporal logic; multi vehicles system; DYNAMICS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Recently, formation control in which multiple vehicles travel while maintaining a certain shape or switching some forms has been studied. There are many advantages compared with a single vehicle such as more effcient, scalability, versatility, and redundancy against individual failure. However, many papers assume a suffiently large space, and a few papers consider the surrounding environment. Hence, it is necessary to consider environment in limited space for safety. Therefore, this paper proposes an optimal automatic formation control method according to the environment. In our approch, the edge of curse are defid as the environment and optimal formation is automatically determined among predefined formations in real time using model predictive control. In addition, we introduce temporal constraints so that we an specify formation when a certain formation is requested during cruising.

引用

页码：161 / 164

页数：4

共 7 条

[1] Adaptive Rigidity-Based Formation Control for Multirobotic Vehicles With Dynamics [J].