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Generation of Trajectories Using Predictive Control for Tracking Consensus with Sensing

2012; Elsevier BV; Volume: 10; Linguagem: Inglês

10.1016/j.procs.2012.06.155

1877-0509

Bernardo Ordoñez, Ubirajara F. Moreno, Jés de Jesus Fiais Cerqueira, Luís Almeida,

Modular Robots and Swarm Intelligence

Abstract This work presents a cooperation strategy for teams of multiple vehicles to solve the rendezvous problem. The approach is based on consensus algorithms, which are basically characterized by information exchange among the team members. The proposal is based on predictive control, in order to compute decentralized control laws, considering constraints and different response requirements. Our work allows considering together vehicles without and with non-holonomic restrictions while optimizing the sensing range, particularly that of fixed frontal cameras, by managing orientation in the way to the rendezvous point. We show the effectiveness of our strategy with simulation results.