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

• Type: Chapter or Part of a Book
• Date: 2014

Authors

Luis Almeida (Author) FEUP; Bernardo Ordoñez (Author) Other; Ubirajara F. Moreno (Author) Other; Jés Cerqueira (Author) Other

Book

Title: Cooperative Robots and Sensor Networks

Pages: 19-37

ISBN: 978-3-642-39300-6

Indexing

ISI Web of Science

Scopus - 4 Citations

Scientific classification

CORDIS: Technological sciences > Engineering > Computer engineering

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific