Feasibility and coordination of multiple mobile vehicles with mixed equality and inequality constraints

Zhiyong Sun, Marcus Greiff, Anders Robertsson, Rolf Johansson

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We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality constraints etc). We develop a general framework involving differential-algebraic equations and viability theory to describe and determine coordination feasibility for a coordinated motion control under heterogeneous vehicle dynamics and different types of coordination constraints. If a solution exists for the derived differential-algebraic equations and/or inequalities, a heuristic algorithm is proposed for generating feasible trajectories for each individual vehicle. In case studies on coordinating two vehicles, we derive analytical solutions to motion generation for two-vehicle groups consisting of car-like vehicles, unicycle vehicles, or vehicles with constant speeds, which serve as benchmark coordination tasks for more complex vehicle groups. We show several simulation experiments on multi-vehicle coordination under various constraints to validate the theory and the effectiveness of the proposed schemes.
Original languageEnglish
Article number1809.05509
Number of pages11
Publication statusPublished - 14 Sep 2018
Externally publishedYes


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