Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control
Hongyu Zhou Changliu Liu Hongyu Zhou Changliu Liu
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model predictive control (MPC) approach based on convex feasible set (CFS) algorithm for multi-vehicle motion coordination in autonomous driving. By using CFS to convexify ...