Model predictive obstacle avoidance control for omni-directional mobile robots based on fuzzy potential method

Abstract

In this paper, we propose an optimal obstacle avoidance control method with translational and rotational motion for omni-directional mobile robots based on model predictive control (MPC) modifying fuzzy potential method (FPM). The reference path is generated by FPM considering the shape and the size of the robot, but it might vary steeply because the vehicle dynamics is not considered explicitly. To resolve this issue, the robot tracks the path while modifying it by optimization using MPC which computes an optimal input under prediction based on the dynamics until finite-time future in order to achieve smooth and efficient obstacle avoidance. The performance of the method is verified through comparative simulations. 2014 European Control Conference (ECC) June 24-27, 2014. Strasbourg, France 978-3-9524269-1-3 © EUCA 352

Hamiltonian path planning in constrained workspace

“…As a consequence of Proposition 5.1, the design parameters α and β can be chosen in such a way that the velocities and the accelerations of the trajectory defined by (26) and (27) are bounded. In fact, suppose that the physical constraints on the velocities and on the accelerations are such that, for all i ¼1,…,n, j _ z i j r V i for some V i 4 0 and j € z i j rW i for some W i 40.…”

“…By using harmonic functions [7], or restricting the admissible obstacle shapes [29], uniqueness of the minimum can be guaranteed. Methods for facing other drawbacks, such as chattering in narrow passages and mislocation of the minimum, or to broaden the field of applicability of the method, are also available (see for example [13,28,16,35,27]).…”

State of the Art in Predictive Control of Wheeled Mobile Robots

“…FMPC method relies on fuzzy nonlinear object model. Example of this approach is described in [33]. In this case, the approaches based on linearization at the operating point or nonlinear optimization methods are possible.…”