Non-Linear Distributed MPC Coordination of Autonomous Vehicles Using Optimality Condition Decomposition

In this paper, a novel non-linear distributed MPC coordination scheme for autonomous vehicles based on the Optimality Condition Decomposition (OCD) algorithm is proposed. As result, a local planner for each vehicle is obtained via the OCD application to the MPC coordination scheme is obtained for each vehicle, providing realistic paths to be executed in a collaborative manner. The proposed approach is able to determine paths that consider both individual goals and the environment so that agents can collaborate to safely navigate the studied environment. A case study in a ROS simulation environment is used to assess the validity of the proposed approach for real-time implementation.