MPC based motion control of car-like vehicle swarms

  title={MPC based motion control of car-like vehicle swarms},
  author={Wei Xi and J. S. Baras},
  journal={2007 Mediterranean Conference on Control & Automation},
In this paper we study low level motion control of car-like vehicles for applications of UAV swarms. First, a suboptimal continuous-curvature trajectory generation approach is studied to generate suboptimal reference trajectories ('tracks') to connect desired way-point sequences. Two model predictive control (MPC) based 'track following' control approaches are then proposed to deal with the multiple constraints present in practice; for example, actuator saturation, local collision avoidance… CONTINUE READING
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