Collision avoidance and path following for multi-agent dynamical systems - CentraleSupélec Access content directly
Conference Papers Year : 2010

Collision avoidance and path following for multi-agent dynamical systems

Ionela Prodan
Sorin Olaru
Cristina Stoica

Abstract

This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a real-time optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.

Domains

Automatic
No file

Dates and versions

hal-00528298 , version 1 (21-10-2010)

Identifiers

  • HAL Id : hal-00528298 , version 1

Cite

Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Collision avoidance and path following for multi-agent dynamical systems. International Conference on Control, Automation and Systems ICCAS, Oct 2010, Gyeonggi-do, South Korea. pp.1930-1935. ⟨hal-00528298⟩
147 View
0 Download

Share

Gmail Facebook X LinkedIn More