MPC-Based Collision-Free Trajectory Planning for Multi-UGV Formation with Yaw Constraints

This paper presents a model predictive control (MPC)-based trajectory planning method for multi-unmanned ground vehicle (UGV) formation, targeting collision-free navigation in a cluttered environment while satisfying the terminal yaw angle constraint. The proposed approach integrates Buffered Voronoi Cell (BVC) to ensure internal collision avoidance and constructs a feasible region to avoid external obstacles. A yaw error term is incorporated into the formation optimization to achieve precise orientation control, and the formation shape is adaptively optimized to accommodate narrow passages. Furthermore, an adaptive guidance point selection strategy is designed to balance path feasibility and formation stability. Simulation results demonstrate the effectiveness of the proposed method in complex environments, showing accurate terminal yaw control and superior performance in terms of calculation cost and planning efficiency.