Visual Predictive Control Scheme for a Mobile Robot Navigating in a Cluttered Environment

被引：0

作者：

Durand-Petiteville, Adrien ^{[1
]}

Cadenat, Viviane ^{[2
,3
]}

机构：

[1] Univ Fed Pernambuco, Mech Engn Dept, Recife, PE, Brazil

[2] CNRS, LAAS, Toulouse, France

[3] Univ Paul Sabatier Toulouse III, Toulouse, France

来源：

2020 XVIII LATIN AMERICAN ROBOTICS SYMPOSIUM, 2020 XII BRAZILIAN SYMPOSIUM ON ROBOTICS AND 2020 XI WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2020) | 2020年

关键词：

FEATURES; SYSTEMS;

D O I：

10.1109/lars/sbr/wre51543.2020.9307090

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work focuses on the use of Visual Predictive Control to drive a mobile robot in a cluttered environment. To efficiently and safely achieve the navigation task, one proposes to modify a classical VPC scheme by (i) relaxing some control input boundaries to extend the feasibility set and guarantee the stability, (ii) adding obstacle constraint over the pieces of trajectory, and (iii) modifying the calculated solution to avoid local minima. Simulated results highlight the efficiency of the proposed approach.

引用

页码：132 / 137

页数：6

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