IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Distributed Model Predictive Formation Control of UGV Swarm Guaranteeing Collision Avoidance

충돌 회피가 보장된 분산화된 군집 UGV의 모델 예측 포메이션 제어

  • Received : 2021.09.02
  • Accepted : 2021.11.17
  • Published : 2022.04.30
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Abstract

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

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Acknowledgement

본 연구는 방위사업청과 국방과학연구소가 지원하는 군집형 무인 CPS 특화연구실 사업의 일환으로 수행되었습니다 (UD190029ED).

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