Predictive Control of Unmanned Formations

Martin Saska; Libor Přeučil

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Paper

Predictive Control of Unmanned Formations

Topics: Mobile Robots and Autonomous Systems; Vehicle Control Applications

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 403-406, 2012 , Rome, Italy

Authors: Martin Saska and Libor Přeučil

Affiliation: Czech Technical University in Prague, Czech Republic

Keyword(s): Mobile Robots, Formation Control, Receding Horizon Control, Obstacle Avoidance.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: A receding horizon control based approach for guiding of autonomous formations of nonholonomic robots in a leader-follower constellation is proposed in this paper. The presented method ensures dynamic obstacle avoidance, formation coordination as well as failure tolerance. The robustness of the algorithm is verified by numerical multi-robot experiments. Besides, effects of system’s parameters on the algorithm performance are investigated.

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Paper citation in several formats:

Saska, M. and Přeučil, L. (2012). Predictive Control of Unmanned Formations. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 403-406. DOI: 10.5220/0003994404030406

@conference{icinco12,
author={Martin Saska. and Libor P\v{r}eučil.},
title={Predictive Control of Unmanned Formations},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={403-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003994404030406},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Predictive Control of Unmanned Formations
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Saska, M.
AU - Přeučil, L.
PY - 2012
SP - 403
EP - 406
DO - 10.5220/0003994404030406
PB - SciTePress