ICRA 2011 Paper Abstract


Paper ThA102.5

Farrokhsiar, Morteza (UBC), Najjaran, Homayoun (University of British Columbia)

Unscented Predictive Motion Planning of a Nonholonomic System

Scheduled for presentation during the Regular Sessions "Planning, Scheduling and Coordination" (ThA102), Thursday, May 12, 2011, 09:20−09:35, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Planning, Scheduling and Coordination, Autonomous Agents, Collision Avoidance


An unscented predictive motion planning algorithm of a mobile robot using output feedback is presented. The robot is modeled as a nonholonomic system. A predictive motion planning scheme is used to find the suboptimal control inputs. In addition to the nonholonomic constraint, state estimation and collision avoidance chance constraints are incorporated to the predictive scheme. The closed form of the probabilistic constraints is solved by utilizing the unscented transform of the motion model. Numerical simulation results demonstrate a high level of robustness and effectiveness of the proposed algorithm in the presence of disturbances, measurement noise and chance constraints.



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