Generation of Trajectories Using Predictive Control for Tracking Consensus with Sensing
| Autor: | Ubirajara F. Moreno, Bernardo Ordoñez, Luis Almeida, J. J. F. Cerqueira |
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| Rok vydání: | 2012 |
| Předmět: |
Mathematical optimization
Computer science Orientation (computer vision) Rendezvous Model predictive control Range (mathematics) General Earth and Planetary Sciences non holonomic constraint Point (geometry) Consensus algorithm Rendezvous problem optimization Simulation cooperation strategies General Environmental Science |
| Zdroj: | ANT/MobiWIS |
| ISSN: | 1877-0509 |
| DOI: | 10.1016/j.procs.2012.06.155 |
| Popis: | This work presents a cooperation strategy for teams of multiple vehicles to solve the rendezvous problem. The approach is based on consensus algorithms, which are basically characterized by information exchange among the team members. The proposal is based on predictive control, in order to compute decentralized control laws, considering constraints and different response requirements. Our work allows considering together vehicles without and with non-holonomic restrictions while optimizing the sensing range, particularly that of fixed frontal cameras, by managing orientation in the way to the rendezvous point. We show the effectiveness of our strategy with simulation results. |
| Databáze: | OpenAIRE |
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