This paper deals with the motion planing in real-time for swarm of agents using distributed Model Predictive Control (DMPC). Optimization-based control helps both to stabilize the motion dynamics of the robots and to enforce the system's constraints. However, the price is a significant increase in complexity as the scale of the system surges. To improve the scalability for a large formation, we propose a DMPC framework that considers B-spline parameterizations for the agents' trajectories. The proposed approach has great promise for multi-drones system, as illustrated with simulation examples using a state of the art quadcopter model.
Online B-Spline Based Trajectory Planning for Swarm of Agents Using Distributed Model Predictive Control
04.06.2024
2264808 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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TIBKAT | 2021
|Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning
BASE | 2021
|British Library Conference Proceedings | 2015
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