Collision Avoidance for Multiagent System using Distributed Model Predictive Control with Consistency Constraint

摘要：

This paper addresses an improved distributed model predictive control (DMPC) scheme with collision avoidance for multiagent system based on consistency constraint. We first design the sufficient condition to realize cooperative collision avoidance for multiagent system using the consistency constraint. In order to optimize control trajectory and improve the consistency of the actions between agents, the deviation between what an agent is actually doing and what its neighbours believe that agent is doing is added into the cost function of each agent. At each sampling time the consistency constraint is set as the maximum value of the deviation of the previous sample time. The proposed distributed control scheme is formulated as quadratic programming with quadratic constraint. A simulation example is given to illustrate the effectiveness of the proposed scheme.

关键词： distributed model predictive control (DMPC) consistency constraint collision avoidance

作者: Wei Shan-bi Chai Yi

作者单位: College of Automation ChongQing University ChongQing, China

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-5

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）