Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance

In this article, event‐triggered model predictive control is used for simultaneous tracking and formation of a multi‐vehicle system with collision avoidance and obstacle avoidance. An event‐triggered mechanism is established to reduce computational burden in the model predictive control strategy. A compatibility constraint is proposed to guarantee collision avoidance and convergence for the multi‐vehicle system by limiting an uncertainty deviation of each vehicle. Between each vehicle and obstacles, a safe distance is ensured by a robust obstacle avoidance constraint. Finally, effectiveness and advantages of the proposed strategy are shown by two simulation examples.