Motion planning of multiple unmanned vehicles using sequential convex programming‐based distributed model predictive control

This article tackles the complex challenge of multi‐vehicle motion planning by presenting the novel Sequential Convex Programming‐based Distributed Model Predictive Control (SCP‐DMPC) algorithm. Existing methods often struggle with the nonconvex nature of optimization in multi‐vehicle motion plannin...

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Veröffentlicht in:	International journal of robust and nonlinear control Jg. 35; H. 1; S. 141 - 167
Hauptverfasser:	Liu, Xiaoming, Wu, Fuchun, Deng, Yunshan, Wang, Ming, Xia, Yuanqing
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Bognor Regis Wiley Subscription Services, Inc 10.01.2025
Schlagworte:	Algorithms Asymptotic methods collision avoidance Control stability Convexity distributed model predictive control Mathematical programming Motion planning multi‐vehicle motion planning Optimization Predictive control R&D Research & development sequential convex programming Unmanned vehicles
ISSN:	1049-8923, 1099-1239
Online-Zugang:	Volltext
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