Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

International Journal of Advanced Robotic Systems

PaulQuillen¹ 

关键词: Path planning;    navigation function;    mobile robots;    model predictive control;    receding horizon control;    constraints;    trajectory tracking;   

DOI  :  10.1177/1729881418812635

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

【 授权许可】

CC BY