Formation Coordination with Path Planning in Space of Multinomials

Martin Saska, Vojtěch Vonásek, and Libor Přeučil


Formation driving, Path planning, Model predictive control, Obstacle avoidance


A formation driving approach based on spline path planning and vehicles coordination using the model predictive control is investigated in this paper. The proposed system enables to control all members of the team as well as to navigate the formation itself fully autonomously in a dynamic environment. Both necessary sub-tasks, robots' control and path planning for the formation, are formulated as optimization problems solved by various numerical methods in the paper. Applicability and robustness of all approaches and the entire system itself are verified by simulations as well as by real robotic experiments.

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