Predictive Control Approach for Restricted Areas Avoidance of Autonomous System

摘要

In this paper, we have formulated and simulated a hybrid dynamics in a piecewise affine (PWA) model of an autonomous system for several restricted areas avoiding purposes. The scenario of the restricted area avoidance is formulated by labeling the normal (unrestricted) area and the restricted area as mode 0 and mode 1 respectively. The dynamics of the autonomous system is formulated as a PWA model governed by these two modes. We simulate dynamics of the given autonomous system as follows. The given autonomous system is initially located at some point/position and it have to reach some given final/target point/position with optimal condition by minimizing the trajectory and effort. To determine the optimal trajectory, we applied the model predictive control method to generate the optimal input so that the autonomous system avoids some given restricted areas. From the simulation results, the given autonomous system reached the target position and avoids the given restricted areas with optimal trajectory generated by the predictive controller.