Distributed Model Predictive Pose Control of Multiple Nonholonomic Vehicles
Maximilian Kloock, Ludwig Kragl, Janis Maczijewski, Bassam Alrifaee, Stefan Kowalewski · 2019
This paper investigates a method for pose control of multiple nonholonomic vehicles using time-optimal control in a Model Predictive Control (MPC) framework. The vehicles are driving on a limited space considering field boundaries to build-up a formation. Distributed Model Predictive Control (DMPC) in a priority-based manner reduces computation time and avoids vehicle collisions. Priorities are automatically set by evaluating the target poses of the vehicles. We demonstrate our method in simulations. It produces near-optimal trajectories and reduces the compuation time in comparison to centralized MPC.