Cooperative path following of constrained autonomous vehicles with model predictive control and event‐triggered communications

• Published in: International journal of robust and nonlinear control Vol. 30; no. 7; pp. 2644 - 2670
• Main Authors: Hung, Nguyen T., Pascoal, Antonio M., Johansen, Tor A.
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 10.05.2020
• Subjects: Autonomous vehicles; Communication; Computer simulation; consensus; Constraints; Control theory; cooperative path following; Coordination; Decoupling; event‐triggered communications; Maneuvers; MPC; multiagent system; Multiagent systems; Predictive control; Topology; Trajectory planning; Vehicles

Summary We present a solution to the problem of multiple vehicle cooperative path following (CPF) that takes explicitly into account vehicle input constraints, the topology of the intervehicle communication network, and time‐varying communication delays. The objective is to steer a group of vehicles...