Obstacle avoidance for wheeled robots in unknown environments using model predictive control

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Yoon, Yongsoon ^a   Choe, Tokson ^a   Park, Yongwoon ^a   Kim, H Jin ^a  

^a NONE

Author keywords

Autonomous robotic systems; Guidance navigation and control; Mobile robots

Indexed keywords

AUTONOMOUS ROBOTIC SYSTEMS; AVOIDING OBSTACLE; CAR-LIKE ROBOT; CART MODELS; COMPLEX ENVIRONMENTS; COMPUTATION TIME; COST MINIMIZATION; GUIDANCE NAVIGATION AND CONTROL; KARUSH-KUHN-TUCKER CONDITION; KINEMATIC CONSTRAINTS; NON-LINEAR MODEL; OBSTACLE AVOIDANCE; OBSTACLES AVOIDANCE; OPTIMAL TRACKING; SIMULATION RESULT; TIRE MODELS; UNKNOWN ENVIRONMENTS; UNMANNED GROUND VEHICLES; URBAN AREAS; WHEELED ROBOT;

ASTROPHYSICS; AUTOMOBILE STEERING EQUIPMENT; AUTOMOBILES; GEOMETRICAL OPTICS; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; MOBILE ROBOTS; NAVIGATION; OPTIMIZATION; PREDICTIVE CONTROL SYSTEMS; REMOTELY OPERATED VEHICLES; ROBOTICS; SPACECRAFT PROPULSION;

MODEL PREDICTIVE CONTROL;

EID: 79961018919     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.1873     Document Type: Conference Paper

References (12)

1. E.Rimon, D.Kodischek. Exat robot navigations using artificial potential functions. IEEE Transaction on Ronoics and Automation, 8(5):501-518, 1992.
2. D.Fox,W.Burgard and S.Thrun. The dynamic window approach to collision avoidance. IEEE Robotics and Automation Magazine 4(1), 23-33, 1997.
3. R.G.Simmon. The curvature velocity method for local obstacle avoidance. IEEE International Conference on Robotics and Automation, vol 4, 2275-2282, 1996.
4. J.Minguez and L.Montano. Nearness diagram navigation(ND): a new real-time collision avoidance approach. IEEE/RSJ International Conference on Intelligent Robots and System(IROS), 2000.
5. I.Ulrich and J.Borenstein,VFH. reliable obstacle avoidance for fast mobile fonots. IEEE International Conference on Robotics and Automation, pp.1572-1577, 2000.
6. Kai O. Arras, Jan Persson, Nicola Tomatis, Roland Siegwart. Real-time obstacle avoidance for polygonal robots with a reduced dynamic window. IEEE International Conference on Robotics and Automation, Washington, DC., May 2002.
7. E.Bakker,L.Nyborg and H.B.Pacejka. Tyre modeling for use in vehicle dynamics studies. SAE paper, 870421, 1987.
8. D. Wollherr. Robust Steering Control for Swerving Manoeuveres of a Motor Vehicle. PhD thesis, Automotic Control Lab, ETH, Zurich, 2002.
9. F. Borrelli, P. Falcone, T. Keviczky, J. Asgari and D. Hrovat. MPC-based approach to active steering for autonomous vehicle systems. Int. J. Vehicle Autonomous Systems, 3(2/3/4), 265-291, 2005.
10. P. Falcone, F. Borrelli, J. Asgari, H. E. Tseng and D. Hrovat. Predictive active steering control for autonomous vehicle systems. Int. J. IEEE Transactions on Control Systems Technology, 2007.
11. H. J. Kim, D. H. Shim and S. Sastry. Nonlinear model predictive tracking control for rotorcraft-base unmanned aerial vehicles. American Control Conference, Anchorage, AK, pp 3576-3581, May 2002.
12. Yongsoon Yoon, H. Jin Kim, Tokson Choe and Yongwoon Park. Communication in distributed model predictive collision avoidance. International Conference on Robot Communication and Coordination, Athens, October, 2007.