ICRA 2012 Paper Abstract

Close

Paper WeD01.1

Karydis, Konstantinos (University of Delaware), Valbuena, Luis (University of Delaware), Tanner, Herbert G. (University of Delaware)

Model Predictive Navigation for Position and Orientation Control of Nonholonomic Vehicles

Scheduled for presentation during the Regular Session "Non-Holonomic Motion Planning" (WeD01), Wednesday, May 16, 2012, 16:30−16:45, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Nonholonomic Motion Planning, Collision Avoidance, Wheeled Robots

Abstract

In this paper we consider a nonholonomic system in the form of a unicycle and steer it to the origin so that both position and orientation converge to zero while avoiding obstacles. We introduce an artificial reference field, propose a discontinuous control policy consisting of a receding horizon strategy and implement the resulting field-based controller in a way that theoretically guarantees for collision avoidance; convergence of both position and orientation can also be established. The analysis integrates an invariance principle for differential inclusions with model predictive control. In this approach there is no need for the terminal cost in receding horizon optimization to be a positive definite function.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-06-18  00:54:46 PST  Terms of use