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Model Predictive Formation Control Using Branch-and-Bound Compatible With Collision Avoidance Problems

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3 Author(s)
Hiroaki Fukushima ; Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan ; Kazuyuki Kon ; Fumitoshi Matsuno

This paper presents a model predictive control (MPC) approach for multivehicle formation taking into account collision avoidance and velocity limitation with reduced computational burden. The first part of the paper constructs a formation control law using feedback linearization with MPC in order to reduce the optimal control problem to a mixed-integer quadratic programming problem for a group of unicycles. The second part constructs a new branch-and-bound (B& B) -based algorithm for collision-avoidance problems. Numerical examples and experiments show that the proposed method significantly reduces computation time.

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 5 )