Multi-Restricted Area Avoidance Scenario Using Hybrid Dynamical Model and Its Predictive Controller

Abstract

This article is addressed to show the results of hybrid dynamical modeling in the form of PWA (piecewise-affine) and equivalent MLD (mixed-logical dynamical) model for multirestricted areas avoidance of an autonomous system. It is a problem of determining the optimal moving trajectory from plant's initial position to some desired position while avoiding some restricted areas (obstacles) between them. In order to calculate the optimal input value capable of generating the optimal trajectory, the model predictive control (MPC) approach was utilized by minimizing an objective function of state/output prediction subject to the formulated hybrid dynamical model. To illustrate the formulated model and its responses, some computational simulations were performed in a three-dimensional state using two/three box-shape restricted areas. From the simulation results, the optimal trajectory was achieved, and the plant avoided the restricted area.