Title :
Cooperative control of networked autonomous vehicles using convex optimization
Author :
Mohsen Ahmadi Mousavi;Behzad Moshiri;Zainabolhoda Heshmati
Author_Institution :
Faculty of New Sciences and Technologis, University of Tehran, Tehran, Tran
Abstract :
In this paper a distributed, mathematical and optimization-based planning problem is introduced to control motion of multiple vehicles as a team which are connected to each other by a communication network. This framework is defined based on a Linear Time Varying Model Predictive Control (LTV-MPC). To do so, we define linear time varying constraints to cover obstacle avoidance and maintain connectivity missions as a multi criteria optimization problem. The final proposed MPC problem is converted to a real time convex optimization problem by some definitions and simplifying methods.
Keywords :
"Vehicles","Convex functions","Planning","Collision avoidance","Optimization","Vehicle dynamics","Mobile robots"
Conference_Titel :
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
DOI :
10.1109/ICRoM.2015.7367865