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Distributed model predictive control w-ith obstacle communication
Publikationstyp
Conference Paper
Publikationsdatum
2019-07
Sprache
English
Author
Kloock, Christine
Institut
TORE-URI
Volume
2019-July
Start Page
1418
End Page
1423
Article Number
8815183
Citation
Proceedings of the American Control Conference : 8815183 (2019-07)
Contribution to Conference
Scopus ID
This paper presents a distributed model predictive control approach for multiagent systems, where the agents are vehicles required to move from given initial positions to individual target points in the presence of obstacles. A global cost function is approximated such that each agent minimizes a local cost function based on locally available information. Within a given communication distance agents exchange their position and target information together with information about detected obstacles, which are represented by ellipses. Simulation studies illustrate the proposed method.