DocumentCode :
3176284
Title :
On Motion Coordination of Multiple Vehicles with Nonholonomic Constraints
Author :
Xie, Feng ; Fierro, Rafael
Author_Institution :
Oklahoma State Univ., Stillwater
fYear :
2007
fDate :
9-13 July 2007
Firstpage :
1888
Lastpage :
1893
Abstract :
Coordination of multiple vehicles has been of great interest in the control community. In this paper, we consider the problem of controlling a team of mobile robots with nonholonomic constraints to leader-following formations. We propose that it is more convenient to put the nonholonomic constraints inside the model predictive control (MPC) framework. As the first step of exploration, a dual-mode MPC algorithm is developed. The stability of the formation is guaranteed by constraining the terminal state to a terminal region and switching to a stabilizing terminal controller at the boundary of the terminal region. The effectiveness of the method is investigated by numerical simulations.
Keywords :
mobile robots; motion control; multi-robot systems; predictive control; stability; dual-mode MPC algorithm; mobile robots; model predictive control; motion coordination; nonholonomic constraints; stability; Cities and towns; Control systems; Linear feedback control systems; Mobile robots; Motion control; Predictive control; Predictive models; Robot kinematics; Stability; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
ISSN :
0743-1619
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2007.4283136
Filename :
4283136
Link To Document :
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