Collision Avoidance Formation Navigation of Multiple Rectangle-shaped Agents Based on Distributed Model Predictive Control
- Resource Type
- Conference
- Authors
- Hu, Jian; Fu, Junjie; Wen, Guanghui
- Source
- 2022 International Conference on Advanced Robotics and Mechatronics (ICARM) Advanced Robotics and Mechatronics (ICARM), 2022 International Conference on. :807-811 Jul, 2022
- Subject
- Robotics and Control Systems
Navigation
Trajectory planning
Numerical simulation
Trajectory
Planning
Performance analysis
Reliability
- Language
The collision avoidance formation navigation problem of multiple rectangle-shaped agents is considered in this paper and a distributed model predictive control (MPC) framework is proposed to achieve safe formation navigation for the agents with nonholonomic dynamics. We introduce a formula for calculating the distances between rectangular agents and use presumed trajectories for neighboring agents during the planning horizon. As a result, each agent can independently and synchronously perform collision-free trajectory planning in an admissible space. The effectiveness of the proposed control strategy is demonstrated by numerical simulations.