MPC Based Motion Control of Car-like Vehicle Swarms

MPC Based Motion Control of Car-like Vehicle Swarms

Title : MPC Based Motion Control of Car-like Vehicle Swarms
Authors :
Xi, Wei
Baras, John, S.
Conference : Proceedings of 15th IEEE Mediterranean Conference on Control and Automation pp. 1-6
Date: June 27 - June 29, 2007

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.

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