NMPC strategy for mobile robot navigation in an unknown environment
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Universidade Federal de Minas Gerais
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This work presents a Nonlinear Model Predictive Control strategy for mobile robot
navigation in unknown environments. The control system aims to reach a goal safely, as fast as
possible, minimizing the control effort, and the distance between the current trajectory and the
goal. A LIDAR (Light Detection and Ranging) sensor is used to obtain obstacles information as
these are approached by the robot. The LIDAR output is then processed to obtain inequality
constraints describing a collision-free area. This area is partitioned in convex subregions in order
to be used within the proposed NMPC approach to perform path tracking, ensuring obstacle
avoidance. Numerical results are provided to corroborate the performance of the system.
Abstract
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NMPC; Mobile Robot; Obstacle Avoidance; Unknown Environment
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https://proceedings.science/sbai-2019/trabalhos/nmpc-strategy-for-mobile-robot-navigation-in-an-unknown-environment?lang=pt-br