Sequential Distributed Model Predictive Control for Automated Mining Fleet
Zhichao Wang,
Jue Yang
Abstract:This work mainly focuses on fleet collaborative control for autonomous mining fleets. In this paper, we first developed a double-layer coupling model including the intersection platoon (IP) in the upper layer and the following platoon (FP) in the lower layer and unified the headway calculation and the structure of the control problem of the two types of platoons. Then, the constant time headway (CTH) spacing policy is implemented to ensure safety during fleet operation. Next, a controller based on the sequenti… Show more
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