Safe Formation Control with Constrained Linear Model Predictive Control

Philippe Feyel

2019

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.

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