Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations
| Autor: | Tamas Keviczky, Francesco Borrelli, Gary J. Balas, D. Godbole, Kingsley Fregene |
|---|---|
| Rok vydání: | 2008 |
| Předmět: |
Engineering
business.industry receding horizon control Constrained optimization Mobile robot Control engineering Graph theory Decentralised system Hierarchical decomposition constrained optimization Model predictive control formation flight Control and Systems Engineering Graph (abstract data type) hierarchical decomposition set invariance Electrical and Electronic Engineering business |
| Zdroj: | IEEE Transactions on Control Systems Technology, 16 (1), 1980 |
| ISSN: | 1063-6536 |
| DOI: | 10.1109/tcst.2007.903066 |
| Popis: | This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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