Distributed Receding Horizon Control for Nonholonomic Multi-vehicle System with Collision Avoidance
The synchronous distributed receding horizon control for nonholonomic multi-vehicle system is developed in this paper. We contribute by proposing a boundary constraint to limit the deviation between the assumed and actual trajectories of each vehicle, giving the collision avoidance constraint respecting the effect of deviation, and designing the terminal constraint and the associated terminal controller. By incorporating the inherent dynamic constraint, input constraint, and the proposed constraints into the optimization problem, a synchronous distributed receding horizon control algorithm is presented, with recursive feasibility. Through a comparison and an illustrative simulation, we demonstrate the positive invariance of the designed terminal region and the effectiveness of the presented algorithm, respectively.
Distributed receding horizon control (DRHC) Synchronous strategy Nonholonomic multi-vehicle system Collision avoidance
WANG Peng DING Baocang ZOU Tao
Ministry of Education Key Lab For Intelligent Networks and Network Security (MOE KLINNS Lab), Depart Ministry of Education Key Lab For Intelligent Networks and Network Security (MOE KLINNS Lab), Depart Department of Automation, Zhejiang University of Technology, Hangzhou, 310032, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6327-6332
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）