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Trajectory Generati...
Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control
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- Berlin, Jonas (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Hess, Georg, 1996 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Karlsson, Anton (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Ljungbergh, William (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Zhang, Ze, 1995 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Åkesson, Knut, 1972 (author)
- Volvo Group
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- Götvall, Per-Lage, 1960 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2021
- 2021
- English.
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In: IEEE International Conference on Automation Science and Engineering. - 2161-8070 .- 2161-8089. ; 2021-August, s. 942-947
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Abstract
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- This paper presents an approach to collision-free, long-range trajectory generation for a mobile robot in an industrial environment with static and dynamic obstacles. For the long-range planning a visibility graph together with A is used to find a collision-free path with respect to the static obstacles. This path is used as a reference path to the trajectory planning algorithm that in addition handles dynamic obstacles while complying with the robot dynamics and constraints. A Nonlinear Model Predictive Control (NMPC) solver generates a collision-free trajectory by staying close to the initial path but at the same time obeying all constraints. The NMPC problem is solved efficiently by leveraging the new numerical optimization method Proximal Averaged Newton for Optimal Control (PANOC). The algorithm was evaluated by simulation in various environments and successfully generated feasible trajectories spanning hundreds of meters in a tractable time frame.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
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- By the author/editor
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Berlin, Jonas
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Hess, Georg, 199 ...
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Karlsson, Anton
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Ljungbergh, Will ...
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Zhang, Ze, 1995
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Åkesson, Knut, 1 ...
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show more...
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Götvall, Per-Lag ...
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show less...
- About the subject
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- ENGINEERING AND TECHNOLOGY
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ENGINEERING AND ...
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and Electrical Engin ...
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and Robotics
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- ENGINEERING AND TECHNOLOGY
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ENGINEERING AND ...
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and Electrical Engin ...
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and Control Engineer ...
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- NATURAL SCIENCES
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NATURAL SCIENCES
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and Computer and Inf ...
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and Computer Science ...
- Articles in the publication
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IEEE Internation ...
- By the university
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Chalmers University of Technology