Motion Planning for Mobile Robot with Modified BIT* and MPC

被引：10

作者：

Xu, Puyong ^{[1
]}

Wang, Ning ^{[2
,3
]}

Dai, Shi-Lu ^{[1
,3
]}

Zuo, Lei ^{[4
]}

机构：

[1] South China Univ Technol, Sch Automat Sci & Engn, Key Lab Autonomous Syst & Networked Control, Guangzhou 510641, Peoples R China

[2] Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England

[3] Foshan Newthinking Intelligent Technol Co Ltd, Foshan 528231, Peoples R China

[4] Changan Univ, Sch Elect & Control Engn, Xian 710064, Peoples R China

来源：

APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 01期

基金：

中国国家自然科学基金;

关键词：

mobile robot; sampling-based planning; motion planning; BIT*; MPC;

D O I：

10.3390/app11010426

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

In this paper, a mobile robot motion planning method with modified BIT* (batch informed trees) and MPC (Model Predictive Control) is presented. The conventional BIT* was modified here by integrating a stretch method that improves the path points connections, to get a collision-free path more quickly. After getting a reference path, the MPC method is employed to determine the motion at each moment with a given objective function. In the objective function, a repulsive function based on the direction and distance of the obstacles is introduced to avoid the robot being too close to the obstacle, so the safety can be ensured. Simulation results show the good navigation performance of the whole framework in different scenarios.

引用

页码：1 / 15

页数：15

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[3]

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