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Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control

Berlin, Jonas (author)
Chalmers tekniska högskola,Chalmers University of Technology
Hess, Georg, 1996 (author)
Chalmers tekniska högskola,Chalmers University of Technology
Karlsson, Anton (author)
Chalmers tekniska högskola,Chalmers University of Technology
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Ljungbergh, William (author)
Chalmers tekniska högskola,Chalmers University of Technology
Zhang, Ze, 1995 (author)
Chalmers tekniska högskola,Chalmers University of Technology
Åkesson, Knut, 1972 (author)
Volvo Group
Götvall, Per-Lage, 1960 (author)
Chalmers tekniska högskola,Chalmers University of Technology
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 (creator_code:org_t)
2021
2021
English.
In: IEEE International Conference on Automation Science and Engineering. - 2161-8070 .- 2161-8089. ; 2021-August, s. 942-947
  • Conference paper (peer-reviewed)
Abstract Subject headings
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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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