Wheeled robot navigation based on a unimodal potential function (CROSBI ID 683144)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Klančar, Gregor ; Mušič, Gašper ; Chen, Hao ; Seder, Marija
engleski
Wheeled robot navigation based on a unimodal potential function
This article proposes wheeled mobile robot navigation based on a model predictive control over unimodal potential function. The navigation potential function has a single minimum and no local minima. It is obtained from a discrete graph-based search algorithm that can update the environment changes. Obtained navigation function enables continuous convergent navigation where gradient direction is computed to steer the robot towards the goal. Model predictive control using particle swarm optimization is applied to find the path within areas of the lowest potential and considering the control effort. The proposed solutions feature simple implementation, at moderate computational effort and with good navigation results.
Navigation , potential field , motion control , model predictive control , path planning
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
8862144
2019.
objavljeno
10.1109/CITS.2019.8862144
Podaci o matičnoj publikaciji
International Conference on Computer, Information and Telecommunication Systems - CITS 2019
Obaidat, Mohammad S. ; Mi, Zhenqiang ; Hsiao, Kuei-Fang ; Nicopolitidis, Petros ; Cascado-Caballero, Daniel
Peking: Institute of Electrical and Electronics Engineers (IEEE)
978-1-7281-1374-6
Podaci o skupu
International Conference on Computer, Information and Telecommunication Systems (CITS 2019)
predavanje
28.08.2019-31.08.2019
Peking, Kina