Naslov
Combined stochastic-deterministic predictive control using local-minima free navigation

Autori
Klančar, Gregor ; Seder, Marija

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) / - Prag, 2021, 5788-5793

ISBN
978-1-6654-1714-3

Skup
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Mjesto i datum
Prag, Češka Republika, 27.09.2021. - 01.10.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robots ; navigation ; particle swarm optimisation ; path planning ; predictive control ; stochastic processes

Sažetak
This work proposes a model predictive control approach of a wheeled mobile robot based on a local-minima free navigation function. The constructed navigation function includes information on a goal location and obstacles. Novel conservative navigation is introduced that is simple to compute and yields convergent control behavior. To solve the optimization problem the combined optimization is proposed by a fixed candidate set and particle swarm optimization. The efficiency of the proposed approaches is validated on simulations, by experimental results on the Husky A200 mobile robot and comparisons to Stable Sparse RRT planner.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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