Guaranteed Collision-Free Reference Tracking in Constrained Multi Unmanned Vehicle Systems
| Autor: | Maryam Bagherzadeh, Shima Savehshemshaki, Walter Lucia |
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| Rok vydání: | 2022 |
| Předmět: |
Scheme (programming language)
Computer science Control (management) Resolution (logic) Collision Computer Science Applications Computer Science::Robotics Controllability Control and Systems Engineering Control theory Face (geometry) Trajectory Graph (abstract data type) Electrical and Electronic Engineering computer computer.programming_language |
| Zdroj: | IEEE Transactions on Automatic Control. 67:3083-3089 |
| ISSN: | 2334-3303 0018-9286 |
| Popis: | In this paper, we face the reference tracking control problem for a system of heterogeneous Multi Unmanned Vehicles (MUVs) moving in a 2-D planar environment. We consider a scenario where each vehicle follows a trajectory imposed by a local planner and where each UV can have different linear dynamics as well as different constraints and disturbances. In this contest, we design a novel control architecture where a centralized traffic manager, in conjunction with ad-hoc designed local vehicle controllers, is capable of ensuring the absence of collisions. The proposed solution is obtained by exploiting, for the local vehicles' controllers, a dual-mode Model Predictive Controller (MPC) and, for the traffic manager, set-theoretic and controllability properties. Moreover, after modeling the potential vehicle collisions with a graph, connectivity arguments are used to obtain an optimal collision resolution which minimizes the number of vehicles that need to be stopped. The resulting control scheme ensures collision-free signal tracking. Simulation results, conducted on a MUV system are shown to provide tangible evidence of the features of the proposed framework. |
| Databáze: | OpenAIRE |
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