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In this paper, multi-vehicle formation control with collision avoidance method based on model predictive control (MPC) is proposed. Since MPC based methods can only consider collision avoidance at discrete time steps, a collision may occur in intervals between prediction time steps. In order to prevent this problem, we propose a method which guarantees the collision avoidance not only at prediction time steps but also in intervals between them. The proposed method constrains transition of collision avoidance constraints to exclude possibilities of collisions between time steps. Numerical examples and experiments show the effectiveness of the proposed method.

Model Predictive Based Formation Control with Collision Avoidance between Prediction Time Steps