Cristin-resultat-ID: 1783005
Sist endret: 15. mars 2022, 15:00
NVI-rapporteringsår: 2019
Resultat
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
2019

Distributed nonlinear optimization-based control for multi-agent systems navigation in a coastal environment

Bidragsytere:
  • Ngo-Quoc-Huy Tran
  • Ionela Prodan
  • Esten Ingar Grøtli og
  • Laurent Leferve

Bok

2019 18th European Control Conference (ECC)
ISBN:
  • 978-3-907144-00-8

Utgiver

IEEE (Institute of Electrical and Electronics Engineers)
NVI-nivå 1

Om resultatet

Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Publiseringsår: 2019
Sider: 3377 - 3382
ISBN:
  • 978-3-907144-00-8

Importkilder

Scopus-ID: 2-s2.0-85071542599

Klassifisering

Fagfelt (NPI)

Fagfelt: IKT
- Fagområde: Realfag og teknologi

Beskrivelse Beskrivelse

Tittel

Distributed nonlinear optimization-based control for multi-agent systems navigation in a coastal environment

Sammendrag

This paper presents a distributed optimization-based control algorithm for the safe navigation of multi-surface vehicles in a complex environment with fixed and moving obstacles. We first generate off-line within the a priori known environment a collision-free path using RRT* (optimal Rapidly-exploring Random Tree) algorithm. Next, potential field constructions are developed through the use of on-off barrier functions to ensure vehicle connectivity and fixed/moving obstacles avoidance. These ingredients are integrated in a distributed NMPC (Nonlinear Model Predictive Control) framework which activates the constraints only in the view range of the agents. The algorithm shows good results in simulations for both connectivity maintenance and validation of the COLREGS rules.

Bidragsytere

Ngo-Quoc-Huy Tran

  • Tilknyttet:
    Forfatter
    ved Institut Polytechnique de Grenoble

Ionela Prodan

  • Tilknyttet:
    Forfatter
    ved Institut Polytechnique de Grenoble
Aktiv cristin-person

Esten Ingar Grøtli

  • Tilknyttet:
    Forfatter
    ved Mathematics and Cybernetics ved SINTEF AS

Laurent Leferve

  • Tilknyttet:
    Forfatter
    ved Institut Polytechnique de Grenoble
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Resultatet er en del av Resultatet er en del av

2019 18th European Control Conference (ECC).

Garofalo, Franco. 2019, IEEE (Institute of Electrical and Electronics Engineers). UdSFIdNVitenskapelig antologi/Konferanseserie
1 - 1 av 1