Engineering Commons^™

Formation Control Using Vehicle Operational Envelopes And Behavior-Based Dual-Mode Model Predictive Control, Brian Merrell

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis presents a control framework for formation control. Given an initial desired trajectory, a framework is presented to generate trajectories for each vehicle within the formation. When combined with an operational envelope, a designated area for each vehicle to maneuver, for each vehicle the multi-vehicle formation control problem can be redefined into a single vehicle problem. A single vehicle framework is presented to track the respective trajectory when possible, or stay near it when it passes through previously unknown obstacles. Arc-based motions are used to rapidly produce desirable robot controls while a trajectory tracking motion is used to ensure …