Multi-Vehicle Reference Tracking with Guaranteed Collision Avoidance
| Autor: | Walter Lucia, Maryam Bagherzadeh |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
020901 industrial engineering & automation Computer science Control theory The Intersect 020208 electrical & electronic engineering 0202 electrical engineering electronic engineering information engineering 02 engineering and technology Reference tracking State (computer science) Tracking (particle physics) Collision avoidance |
| Zdroj: | ECC |
| DOI: | 10.23919/ecc.2019.8795915 |
| Popis: | In this paper, a computationally low-demanding control framework is presented to deal with the reference tracking and collision avoidance problems for a system of heterogeneous Unmanned Vehicles (UVs). The proposed solution is capable of guaranteeing absence of collisions in scenarios where the UVs are subject to disturbances, state and input constraints, and where reference trajectories might intersect. The proposed methodology exploits set-theoretic predictive arguments to coordinately design local tracking controllers and a centralized collision avoidance module. A simulation example, involving two UVs is performed to better explain the main features of the proposed framework. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|