Collision Avoidance Formation Navigation of Multiple Rectangle-shaped Agents Based on Distributed Model Predictive Control

The collision avoidance formation navigation problem of multiple rectangle-shaped agents is considered in this paper and a distributed model predictive control (MPC) framework is proposed to achieve safe formation navigation for the agents with nonholonomic dynamics. We introduce a formula for calculating the distances between rectangular agents and use presumed trajectories for neighboring agents during the planning horizon. As a result, each agent can independently and synchronously perform collision-free trajectory planning in an admissible space. The effectiveness of the proposed control strategy is demonstrated by numerical simulations.

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