Visual Predictive Control Scheme for a Mobile Robot Navigating in a Cluttered Environment
| Autor: | Adrien Durand-Petiteville, Viviane Cadenat |
|---|---|
| Přispěvatelé: | Universidade Federal de Pernambuco [Recife] (UFPE), Équipe Robotique, Action et Perception (LAAS-RAP), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology business.industry Computer science 020208 electrical & electronic engineering Stability (learning theory) Mobile robot 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Maxima and minima Computer Science::Robotics Model predictive control 020901 industrial engineering & automation Obstacle 0202 electrical engineering electronic engineering information engineering Trajectory Computer vision Artificial intelligence Motion planning business computer computer.programming_language |
| Zdroj: | 2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE) IEEE LARS and SBR (Latin American Robotics Symposium/Brazilian Robotics Symposium) IEEE LARS and SBR (Latin American Robotics Symposium/Brazilian Robotics Symposium), Nov 2020, Natal (Virtual), Brazil. ⟨10.1109/LARS/SBR/WRE51543.2020.9307090⟩ LARS/SBR/WRE |
| DOI: | 10.1109/LARS/SBR/WRE51543.2020.9307090⟩ |
| Popis: | International audience; This work focuses on the use of Visual Predictive Control to drive a mobile robot in a cluttered environment. To efficiently and safely achieve the navigation task, one proposes to modify a classical VPC scheme by (i) relaxing some control input boundaries to extend the feasibility set and guarantee the stability, (ii) adding obstacle constraint over the pieces of trajectory, and (iii) modifying the calculated solution to avoid local minima. Simulated results highlight the efficiency of the proposed approach. |
| Databáze: | OpenAIRE |
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