{"title":"不确定狭窄环境下车辆团队的分布式模型预测控制策略","authors":"Anselmo Filice, Babak Rahami","doi":"10.1109/DS-RT47707.2019.8958672","DOIUrl":null,"url":null,"abstract":"In this paper, an hybrid distributed MPC strategy has been developed for teams of unmanned vehicle moving in uncertain and narrowed environments. The proposed solution does not require the exact knowledge of the obstacle and /or corridor geometry. The resulting algorithm is conceived so that only the leader of the platoon within a corridor computes the admissible control actions that will be successively used by all the followers.","PeriodicalId":377914,"journal":{"name":"2019 IEEE/ACM 23rd International Symposium on Distributed Simulation and Real Time Applications (DS-RT)","volume":"260 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Distributed Model Predictive Control Strategy for Vehicle Teams in Uncertain Narrowed Environments\",\"authors\":\"Anselmo Filice, Babak Rahami\",\"doi\":\"10.1109/DS-RT47707.2019.8958672\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an hybrid distributed MPC strategy has been developed for teams of unmanned vehicle moving in uncertain and narrowed environments. The proposed solution does not require the exact knowledge of the obstacle and /or corridor geometry. The resulting algorithm is conceived so that only the leader of the platoon within a corridor computes the admissible control actions that will be successively used by all the followers.\",\"PeriodicalId\":377914,\"journal\":{\"name\":\"2019 IEEE/ACM 23rd International Symposium on Distributed Simulation and Real Time Applications (DS-RT)\",\"volume\":\"260 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE/ACM 23rd International Symposium on Distributed Simulation and Real Time Applications (DS-RT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/DS-RT47707.2019.8958672\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE/ACM 23rd International Symposium on Distributed Simulation and Real Time Applications (DS-RT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DS-RT47707.2019.8958672","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Distributed Model Predictive Control Strategy for Vehicle Teams in Uncertain Narrowed Environments
In this paper, an hybrid distributed MPC strategy has been developed for teams of unmanned vehicle moving in uncertain and narrowed environments. The proposed solution does not require the exact knowledge of the obstacle and /or corridor geometry. The resulting algorithm is conceived so that only the leader of the platoon within a corridor computes the admissible control actions that will be successively used by all the followers.
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