避碰
弹道
计算机科学
机器人
控制理论(社会学)
非完整系统
移动机器人
控制器(灌溉)
碰撞
模型预测控制
控制工程
机器人运动学
人工智能
工程类
控制(管理)
物理
计算机安全
天文
农学
生物
作者
Junjie Fu,Guanghui Wen
标识
DOI:10.1109/docs55193.2022.9967769
摘要
In this work, we consider the robust collision avoidance formation navigation problem for multiple constrained nonholonomic robots with uncertain dynamics. Distributed model predictive control (MPC) based method is proposed in view of its ability to handle the input and state constraints of the robots explicitly. A synchronous non-iterative distributed algorithm is employed which reduces the communication requirement of the system. Furthermore, to enable the state trajectory prediction under uncertain robot dynamics, a data-driven online learning method is proposed to generate an accurate model of the nonholonomic robots adaptively. Based on the proposed control strategy, it is shown that robust collision avoidance formation navigation is successfully achieved while the input and state constraints of the robots are satisfied. Simulation examples are given to demonstrate the performance of the data-driven learning method and the distributed MPC based formation navigation controller.
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