NMPC strategy for mobile robot navigation in an unknown environment

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dc.creatorIuro Baptista Pereira Nascimento
dc.creatorAntonio Ferramosca
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-09T12:32:14Z
dc.date.accessioned2025-09-08T23:32:50Z
dc.date.available2025-05-09T12:32:14Z
dc.date.issued2019
dc.identifier.urihttps://hdl.handle.net/1843/82173
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof14º Simpósio Brasileiro de Automação Inteligente
dc.rightsAcesso Aberto
dc.subjectRobótica
dc.subject.otherNMPC; Mobile Robot; Obstacle Avoidance; Unknown Environment
dc.titleNMPC strategy for mobile robot navigation in an unknown environment
dc.typeArtigo de evento
local.citation.spage111556 (1-7)
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://proceedings.science/sbai-2019/trabalhos/nmpc-strategy-for-mobile-robot-navigation-in-an-unknown-environment?lang=pt-br

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