Formation Obstacle Avoidance Based on Model Predictive Control for Unmanned Vehicles
An obstacle avoidance method was proposed based on model predictive control for unmanned vehicle formation.Firstly,a formation obstacle avoidance function including the virtual agent state was established to make the obstacle avoidance problem been solved suitably with the optimizer.And a priority strategy was intro-duced to realize collision avoidance in unmanned vehicle formation.Then,a dynamic event triggering mechan-ism was introduced to reduce the bandwidth usage of communication between unmanned vehicles.Finally,simu-lation tests were carried out to evaluate the performance of the designed controller,conducting the formation driving tasks based on a leader-tracker architecture under the environment of given polygonal obstacles,and real-izing the intermittent communication during driving with the help of event trigger.The results show that com-pared with traditional methods,the designed formation controller can realize the collision-free driving with lim-ited bandwidth for unmanned vehicle formation.
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