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Generation of Trajectories Using Predictive Control for Tracking Consensus with Sensing and Connectivity Constraint

2013; Springer Nature; Linguagem: Inglês

10.1007/978-3-642-39301-3_2

1860-9503

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

Robotic Path Planning Algorithms

This work presents a cooperation strategy for teams of multiple autonomous 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 according to the application scenario, for example, constraints related to coverage and connectivity of the group. 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.