Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss
Joint Authors
Gordon, Brandon W.
Zhang, Youmin
Izadi, Hojjat A.
Source
International Journal of Aerospace Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-05-29
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Engineering Sciences and Information Technology
Abstract EN
The decentralized model predictive control (DMPC) of multiple cooperative vehicles with the possibility of communication loss/delay is investigated.
The neighboring vehicles exchange their predicted trajectories at every sample time to maintain the cooperation objectives.
In the event of a communication loss (packet dropout), the most recent available information, which is potentially delayed, is used.
Then the communication loss problem changes to a cooperative problem when random large communication delays are present.
Such large communication delays can lead to poor cooperation performance and unsafe behaviors such as collisions.
A new DMPC approach is developed to improve the cooperation performance and achieve safety in the presence of the large communication delays.
The proposed DMPC architecture estimates the tail of neighbor's trajectory which is not available due to the large communication delays for improving the performance.
The concept of the tube MPC is also employed to provide the safety of the fleet against collisions, in the presence of large intervehicle communication delays.
In this approach, a tube shaped trajectory set is assumed around the trajectory of the neighboring vehicles whose trajectory is delayed/lost.
The radius of tube is a function of the communication delay and vehicle's maneuverability (in the absence of model uncertainty).
The simulation of formation problem of multiple vehicles is employed to illustrate the effectiveness of the proposed approach.
American Psychological Association (APA)
Izadi, Hojjat A.& Gordon, Brandon W.& Zhang, Youmin. 2011. Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss. International Journal of Aerospace Engineering،Vol. 2011, no. 2011, pp.1-13.
https://search.emarefa.net/detail/BIM-453869
Modern Language Association (MLA)
Izadi, Hojjat A.…[et al.]. Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss. International Journal of Aerospace Engineering No. 2011 (2011), pp.1-13.
https://search.emarefa.net/detail/BIM-453869
American Medical Association (AMA)
Izadi, Hojjat A.& Gordon, Brandon W.& Zhang, Youmin. Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss. International Journal of Aerospace Engineering. 2011. Vol. 2011, no. 2011, pp.1-13.
https://search.emarefa.net/detail/BIM-453869
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-453869