| Autor: |
Tao, Chuyuan, Cheng, Sheng, Zhao, Yang, Wang, Fanxin, Hovakimyan, Naira |
| Rok vydání: |
2024 |
| Předmět: |
|
| Druh dokumentu: |
Working Paper |
| Popis: |
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized optimization-based planner (BSPOP) designed to address the frequency gap challenge with limited onboard computational power in robots. The proposed planner generates continuous-time control inputs for low-level controllers running at arbitrary frequencies to track. Furthermore, when considering the convex control action sets, BSPOP uses the convex hull property to automatically constrain the continuous-time control inputs within the convex set. Consequently, compared with the discrete-time optimization-based planners, BSPOP reduces the number of decision variables and inequality constraints, which improves computational efficiency as a byproduct. Simulation results demonstrate that our approach can achieve a comparable planning performance to the high-frequency baseline optimization-based planners while demanding less computational power. Both simulation and experiment results show that the proposed method performs better in planning compared with baseline planners in the same frequency. |
| Databáze: |
arXiv |
| Externí odkaz: |
|
