A Distributed Model Predictive Control Strategy for Vehicle Teams in Uncertain Narrowed Environments

Abstract

In this paper, an hybrid distributed MPC strategy has been developed for teams of unmanned vehicle moving in uncertain and narrowed environments. The proposed solution does not require the exact knowledge of the obstacle and /or corridor geometry. The resulting algorithm is conceived so that only the leader of the platoon within a corridor computes the admissible control actions that will be successively used by all the followers.