Receding horizon model-predictive control for mobile robot navigation of intricate paths

Springer Tracts in Advanced Robotics

Volumn 62, Issue , 2010, Pages 69-78

  Howard, Thomas M ^a   Green, Colin J ^a   Kelly, Alonzo ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MOBILE ROBOTS; NAVIGATION;

COMPLEX STATE SPACE; GEOMETRIC SINGULARITY; MOBILE ROBOT NAVIGATION; OPTIMAL CONTROLLER; PARAMETERIZED CONTROL; RECEDING HORIZON MODEL; TRAJECTORY GENERATOR; VEHICLE MOBILITY;

MODEL PREDICTIVE CONTROL;

EID: 84929469874     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-13408-1_7     Document Type: Article

References (12)

1. Amidi, O.: Integrated mobile robot control. Technical Report CMU-RI-TR-90-17, Carnegie Mellon, Pittsburgh (1990)
2. Besiadecki, J.J., Leger, P.C., Maimone, M.W.: Tradeoffs between directed and autonomous driving on the Mars Exploration Rovers. International Journal of Robotics Research 26(91), 91–104 (2007)
3. Bonnafous, D., Lacroix, S., Siméon, T.: Motion generation for a rover on rough terrains. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2001, vol. 2, pp. 784–789 (2001)
4. Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical Report CMU-RI-TR-92-01, Carnegie Mellon, Pittsburgh (1992)
5. Howard, T.M., Kelly, A.: Optimal rough terrain trajectory generation for wheeled mobile robots. International Journal of Robotics Research 26(2), 141–166 (2007)
6. Kelly, A., Stentz, T.: Rough terrain autonomous mobility - Part 2: An active vision and predictive control approach
7. Kuwata, Y., Fiore, A., Teo, J., Frazzoli, E., How, J.P.: Motion planning for urban driving using RRT. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2008, pp. 1681–1686 (2008)
8. Lacze, A., Moscovitz, Y., DeClaris, N., Murphy, K.: Path planning for autonomous vehicles driving over rough terrain. In: Proceedings of the 1998 IEEE ISIC/CIRA/ISAS Joint Conference, pp. 50–55 (September 1998)
9. Lapierre, L., Zapata, R., Lepinay, P.: Combined path-following and obstacle avoidance control of a wheeled robot. International Journal of Robotics Research 26(4), 361–375 (2007)
10. Pivtoraiko, M., Knepper, R., Kelly, A.: Optimal, smooth, nonholonomic mobile robot motion planning in state lattices. Technical Report CMU-RI-TR-07-15, Carnegie Mellon, Pittsburgh (2007)
11. Simmons, R., Krotkov, E., Chrisman, L., Cozman, F., Goodwin, R., Hebert, M., Katragadda, L., Koenig, S., Krishnaswamy, G., Shinoda, Y., Whittaker, W.L., Klarer, P.: Experience with rover navigation for lunar-like terrains. In: Proceedings of the 1995 IEEE Conference on Intelligent Robots and Systems, August 1995, vol. 1, pp. 441–446 (1995)
12. Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Goffmann, G., Lau, K., Oakley, C., Palatucci, M., Pratt, V., Stang, P.: Stanley: The robot that won the DARPA Grand Challenge. Journal of Field Robotics 23(9), 661–692 (2006)