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A Local Planner for...
A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization
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- Andreasson, Henrik, 1977- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Larsson, Jonas (author)
- ABB Corporate Research, Västerås, Sweden
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- Lowry, Stephanie, 1979- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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(creator_code:org_t)
- 2022-03-28
- 2022
- English.
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In: Sensors. - : MDPI. - 1424-8220. ; 22:7
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https://oru.diva-por... (primary) (Raw object)
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Abstract
Subject headings
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- This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner—MSDU–is based on optimal control and formulates a non-linear optimization problem formulation that exploits the omni-motion capabilities of the vehicle to drive the vehicle to the goal in a smooth and efficient manner while avoiding obstacles and singularities. MSDU is designed for a real platform for mobile manipulation where one key function is the capability to drive in narrow and confined areas. The real-world evaluations show that MSDU planned paths that were smoother and more accurate than a comparable local path planner Timed Elastic Band (TEB), with a mean (translational, angular) error for MSDU of (0.0028 m, 0.0010 rad) compared to (0.0033 m, 0.0038 rad) for TEB. MSDU also generated paths that were consistently shorter than TEB, with a mean (translational, angular) distance traveled of (0.6026 m, 1.6130 rad) for MSDU compared to (0.7346 m, 3.7598 rad) for TEB.
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)
Keyword
- local planning
- optimal control
- obstacle avoidance
- Computer Science
- Datavetenskap
Publication and Content Type
- ref (subject category)
- art (subject category)
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