Generation of Trajectories Using Predictive Control for Tracking Consensus with Sensing and Connectivity Constraint

• Tipo: Capítulo ou Parte de Livro
• Data: 2014

Autores

Luis Almeida (Autor) FEUP; Bernardo Ordoñez (Autor) Outra; Ubirajara F. Moreno (Autor) Outra; Jés Cerqueira (Autor) Outra

Livro

Título: Cooperative Robots and Sensor Networks

Páginas: 19-37

ISBN: 978-3-642-39300-6

Indexação

ISI Web of Science

Scopus - 4 Citações

Classificação Científica

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de computadores

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-008-FRK

DOI: 10.1007/978-3-642-39301-3_2

Abstract (EN): This work presents a cooperation strategy for teams of multiple autonomous vehicles to solve the rendezvous problem. The approach is based on consensus algorithms, which are basically characterized by information exchange among the team members. The proposal is based on predictive control in order to compute decentralized control laws, considering constraints and different response requirements according to the application scenario, for example, constraints related to coverage and connectivity of the group. Our work allows considering together vehicles without and with non-holonomic restrictions while optimizing the sensing range, particularly that of fixed frontal cameras, by managing orientation in the way to the rendezvous point. We show the effectiveness of our strategy with simulation results. © 2014 Springer-Verlag Berlin Heidelberg.

Idioma: Inglês

Tipo (Avaliação Docente): Científica