Distributed model predictive control w-ith obstacle communication

Publikationstyp
Conference Paper
Date Issued
2019-07
Sprache
English
Author(s)
Kloock, Christine 
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/3449
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
American Control Conference, ACC 2019  
Scopus ID
2-s2.0-85072292696
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.