予測時刻間の衝突回避を考慮した複数移動体のモデル予測編隊制御

• 根 和幸

  京都大学大学院工学研究科

• 福島 宏明

  京都大学大学院工学研究科

• 松野 文俊

  京都大学大学院工学研究科

書誌事項

タイトル別名

• Model Predictive Based Formation Control with Collision Avoidance between Prediction Time Steps

抄録

In this paper, multi-vehicle formation control with collision avoidance method based on model predictive control (MPC) is proposed. Since MPC based methods can only consider collision avoidance at discrete time steps, a collision may occur in intervals between prediction time steps. In order to prevent this problem, we propose a method which guarantees the collision avoidance not only at prediction time steps but also in intervals between them. The proposed method constrains transition of collision avoidance constraints to exclude possibilities of collisions between time steps. Numerical examples and experiments show the effectiveness of the proposed method.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 46 (7), 383-390, 2010

  公益社団法人 計測自動制御学会

キーワード

• formation control
• collision avoidance
• model predictive control

詳細情報

• CRID: 1390001204503068544
• NII論文ID: 130004549473
• DOI: 10.9746/sicetr.46.383
• ISSN: 18838189
• ISSN: 04534654
• ISSN: http://id.crossref.org/issn/04534654
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可