Stability of distributed MPC in an intersection scenario

12th European Workshop on Advanced Control and Diagnosis

Sprodowski, T.^1 ; Pannek, J.^1,2

Department of Production Engineering, University of Bremen, Germany^1

BIBA Bremer Institut für Produktion und Logistik GmbH, Bremen

28359, Germany^2

关键词: Autonomous car;    Distributed Model predictive Control;    Distributed MPC;    Multi agent;    Numerical results;    Optimal controls;    Research topics;    Sensor fusion;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/659/1/012049/pdf
DOI  :  10.1088/1742-6596/659/1/012049

来源: IOP

【 摘 要 】

The research topic of autonomous cars and the communication among them has attained much attention in the last years and is developing quickly. Among others, this research area spans fields such as image recognition, mathematical control theory, communication networks, and sensor fusion. We consider an intersection scenario where we divide the shared road space in different cells. These cells form a grid. The cars are modelled as an autonomous multi-agent system based on the Distributed Model Predictive Control algorithm (DMPC). We prove that the overall system reaches stability using Optimal Control for each multi-agent and demonstrate that by numerical results.