Safe Formation Control with Constrained Linear Model Predictive Control

Philippe Feyel

Abstract

This paper proposes a safe formation control technic based on the virtual leader-follower principle employed to build agents’ trajectory. Each agent tracks its own trajectory using exclusively constrained linear Model Predictive Control (MPC). To ensure non-collision during formation control and transient phases such as formation reconfigurations, and thanks to the flexibility of MPC, a simple and flexible method for establishing collision and obstacle avoidance linear constraints is proposed. The efficiency of the approach is illustrated by the safe formation control and reconfiguration of a swarm of quadrotor helicopters.

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Paper Citation


in Harvard Style

Feyel P. (2019). Safe Formation Control with Constrained Linear Model Predictive Control.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 70-81. DOI: 10.5220/0007918100700081


in Bibtex Style

@conference{icinco19,
author={Philippe Feyel},
title={Safe Formation Control with Constrained Linear Model Predictive Control},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={70-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918100700081},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Safe Formation Control with Constrained Linear Model Predictive Control
SN - 978-989-758-380-3
AU - Feyel P.
PY - 2019
SP - 70
EP - 81
DO - 10.5220/0007918100700081