| Autor: |
Ludovico, Daniele, Guardiani, Paolo, Pistone, Alessandro, De Mari Casareto Dal Verme, Lorenzo, Caldwell, Darwin G., Canali, Carlo |
| Předmět: |
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| Zdroj: |
Electronics (2079-9292); Feb2023, Vol. 12 Issue 3, p622, 16p |
| Abstrakt: |
In recent years, the logistics sector expanded significantly, leading to the birth of smart warehouses. In this context, a key role is represented by autonomous mobile robots, whose main challenge is to find collision-free paths in their working environment in real-time. Model Predictive Control Algorithms combined with global path planners, such as the A* algorithm, show great potential in providing efficient navigation for collision avoidance problems. This paper proposes a Dual Forward–Backward Algorithm to find the solution to a Model Predictive Control problem in which the task of driving a mobile robotic platform into a bi-dimensional semi-structured environment is formulated in a convex optimisation framework. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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