HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Preprints, Working Papers, ...

A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)

Abstract : This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based tracking controller for each individual vehicle to follow a reference trajectory while satisfying various constraints (kinematics and dynamics, collision avoidance, etc.). The reference trajectory of a vehicle is computed from its leader's trajectory, based on a pre-defined formation tree. We use logic rules to organize the collision avoidance behaviors of member vehicles. Moreover, we propose a methodology to safely reconfigure the formation on-the-fly. The proposed framework has been validated using high-fidelity simulations.
Document type :
Preprints, Working Papers, ...
Complete list of metadata

Cited literature [21 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01309659
Contributor : Xiangjun Qian Connect in order to contact the contributor
Submitted on : Friday, April 29, 2016 - 11:35:01 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:03 PM
Long-term archiving on: : Monday, May 23, 2016 - 6:40:11 PM

File

submission.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01309659, version 1

Citation

Xiangjun Qian, Florent Altché, Arnaud de la Fortelle, Fabien Moutarde. A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version). 2016. ⟨hal-01309659⟩

Share

Metrics

Record views

170

Files downloads

99