MPC Based Motion Control of Car-like Vehicle Swarms

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.