John S. Baras


MPC Based Motion Control of Car-like Vehicle Swarms

W. Xi and J. S. Baras

Proceedings of 15th IEEE Mediterranean Conference on Control and Automation, pp. 1-6, Athens, Greece, June 27-29, 2007.

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In this paper we study low level motion control of car-like vehicles for applications of UAV swarms. First, a Suboptimal Continuous-Curvature trajectory generation approach is studied to generate suboptimal reference trajectories (‘tracks’) to connect desired way-point sequences. Two Model Predictive Control (MPC) based ‘track following’ control approaches are then proposed to deal with the multiple constraints present in practice; for example, actuator saturation, local collision avoidance. Simulations further confirm the motion control design.


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