Networked Event-Based Trajectory Planning for Mobile Objects
Michael Schwung, Jan Lunze · IFAC-PapersOnLine · 2018
This paper proposes an event-based method to ensure a collision-free movement of mobile objects. The objects are locally controlled and connected by a communication network. Each object possesses an event-based trajectory planning unit, which acts on a dynamical model representing the neighbouring objects together with the uncertainty of the predicted states. If a common control goal is violated due to local disturbances affecting the objects, communication to neighbouring objects is invoked. A replanning of the local trajectory based on the communicated information attenuates the disturbance. In contrast to existing literature, this approach has a lower communication effort. The effectiveness of the method is illustrated by a simulation study with two quadrotors.