The obstacle avoidance motion planning problem for autonomous vehicles: A low-demanding receding horizon control scheme

被引：30

作者：

Franze, Giuseppe ^{[1
]}

Lucia, Walter ^{[1
]}

机构：

[1] Univ Calabria, DIMES, I-87036 Arcavacata Di Rende, CS, Italy

来源：

SYSTEMS & CONTROL LETTERS | 2015年 / 77卷

关键词：

Obstacle avoidance; Set-theoretic approach; Receding horizon control; Constraint satisfaction; MODEL-PREDICTIVE CONTROL; MOBILE ROBOT;

D O I：

10.1016/j.sysconle.2014.12.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper addresses the obstacle avoidance motion planning problem for ground vehicles operating in uncertain environments. By resorting to set-theoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints and disturbance effects. Sequences of inner ellipsoidal approximations of the exact one-step controllable sets are pre-computed for all the possible obstacle scenarios and then on-line exploited to determine the more adequate control action to be applied to the robot in a receding horizon fashion. The resulting framework guarantees Uniformly Ultimate Boundedness and constraints fulfilment regardless of any obstacle scenario occurrence. (C) 2014 Elsevier B.V. All rights reserved.

引用

页码：1 / 10

页数：10

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