Study on Model Predictive Control Design of Multivehicle Collision Avoidance With NLOS Clearance Constraints

This paper proposes a strategic approach to simultaneously achieve collision avoidance and non- line-ofsight (NLOS) clearance during the reconfiguration of multivehicle flight trajectories. In many trajectory reconfiguration cases, hazardous situations are defined as constraints, which are typically convexified through a convex relaxation process. For securing NLOS clearance, the paper exploits a sophisticated technique to convexify the constraint related to the line-of-sight disruption phenomenon by developing the conic relation within a relative state framework. These constraints are then applied to the model predictive control (MPC)-based guidance method to generate trajectories for each vehicle, incorporating an indirect linear relation designed to connect vehicle dynamics and the MPC-guided trajectories. The proposed convexification scheme is shown to offer advantages in implementing a one-shot algorithm compared to other iterative methods. The effectiveness of the proposed method is verified through simulations, demonstrating superior performance in collision and line-ofsight disruptive scenarios.