A Receding Horizon Framework for Autonomy in Unmanned Vehicles
| Autor: | Murillo, Marina Hebe, Sanchez, Guido Marcelo, Genzelis, Lucas Manuel, Deniz, Nestor Nahuel, Giovanini, Leonardo Luis |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
MOVING HORIZON ESTIMATION
RECEDING HORIZON TECHNIQUES Ciencias de la Computación e Información MODEL PREDICTIVE CONTROL UNMANNED VEHICLE FOS: Electrical engineering electronic engineering information engineering Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control CIENCIAS NATURALES Y EXACTAS Ciencias de la Computación |
| Popis: | In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are solved using model predictive control and moving horizon estimation techniques, which allows us to include physical and dynamical constraints at the design stage, thus leading to optimal and feasible results. In order to demonstrate the capabilities of the proposed framework, we have used Gazebo simulator in order to drive a Jackal unmanned ground vehicle (UGV) along a desired path computed by the path-planning task. The results we have obtained are successful as the estimation and guidance errors are small and the Jackal UGV is able to follow the desired path satisfactorily and it is also capable to avoid the obstacles which are in its way. This article was rejected for publication in Optimal Control, Applications and Methods |
| Databáze: | OpenAIRE |
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