Online Trajectory Planning and Collision Avoidance for a Group of Robots Using Distributed Model Predictive Control

被引：1

作者：

Costantini, Giuliano ^{[1
]}

Rostami, Ramin ^{[1
]}

Goerges, Daniel ^{[1
]}

机构：

[1] Univ Kaiserslautern, Dept Elect & Comp Engn, Erwin Schrodinger Str 12, D-67663 Kaiserslautern, Germany

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS | 2020年 / 980卷

关键词：

Autonomous vehicles; Unicycle robots; Trajectory planning; Collision avoidance; Distributed model predictive control; EXPONENTIAL STABILIZATION; MOBILE ROBOTS; SYSTEMS;

D O I：

10.1007/978-3-030-19648-6_28

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper the trajectory planning problem for unicycle robots is studied. This problem is particularly difficult to solve online due to its inherently nonlinear and nonconvex structure. The first aim of the paper is to overcome these difficulties using model predictive control (MPC) when a single robot is considered. Several requirements must be fulfilled by the optimal trajectory, such as respecting physical limitations as well as track constraints. The second aim of the paper is to extend the results to a group of robots using distributed MPC providing formation control and inter-robot collision avoidance.

引用

页码：240 / 249

页数：10

共 50 条

[31] Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints
Ji, Jie
Khajepour, Amir
Melek, Wael William
Huang, Yanjun
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2017, 66 (02) : 952 - 964
[32] Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects
Tzafestas, SG
Tzamtzi, MP
Rigatos, GG
MATHEMATICS AND COMPUTERS IN SIMULATION, 2002, 59 (04) : 279 - 292
[33] Energy-optimal transport trajectory planning and online trajectory modification for holonomic robots
Kim, Hongjun
Kim, Byung Kook
ASIAN JOURNAL OF CONTROL, 2021, 23 (05) : 2185 - 2200
[34] Distributed Connectivity Maximization for Networked Mobile Robots with Collision Avoidance
Zhang, Yinyan
Li, Shuai
Wu, Yongdong
Deng, Qingyun
PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 5584 - 5588
[35] Towards Efficient Distributed Collision Avoidance for Heterogeneous Mobile Robots
Chen, Jinlin
Cao, Jiannong
Cheng, Zhiqin
Jiang, Shan
IEEE TRANSACTIONS ON MOBILE COMPUTING, 2024, 23 (05) : 3605 - 3619
[36] Model Predictive Control With Collision Avoidance for Unknown Environment
Silvestre, Daniel
Ramos, Guilherme
IEEE CONTROL SYSTEMS LETTERS, 2023, 7 : 2821 - 2826
[37] Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints
Yang, Hongjiu
Guo, Mingchao
Xia, Yuanqing
Cheng, Lei
IET CONTROL THEORY AND APPLICATIONS, 2018, 12 (02): : 206 - 214
[38] Bezier curve-based trajectory planning for autonomous vehicles with collision avoidance
Zheng, Ling
Zeng, Pengyun
Yang, Wei
Li, Yinong
Zhan, Zhenfei
IET INTELLIGENT TRANSPORT SYSTEMS, 2020, 14 (13) : 1882 - 1891
[39] Imitation Learning of Nonlinear Model Predictive Control for Emergency Collision Avoidance
Kim, Seungtaek
Han, Kyoungseok
Choi, Seibum B.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2024, 9 (01): : 2908 - 2922
[40] Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance
Ma, Junchong
Yao, Weijia
Dai, Wei
Lu, Huimin
Xiao, Junhao
Zheng, Zhiqiang
2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 6848 - 6853

← 1 2 3 4 5 →