Title :
General Framework for Mobile Robot Navigation Using Passivity-Based MPC
Author :
Tahirovic, Adnan ; Magnani, GianAntonio
Author_Institution :
Dipt. di Elettron. e Inf., Politec. di Milano, Milan, Italy
Abstract :
This technical note proposes a novel navigation planner for mobile robots based on an adapted version of passivity-based nonlinear model predictive control. The proposed framework extends the convergent dynamic window approach and can be considered a generalized navigation planning technique able to include the high complex models required to describe the dynamics of vehicles moving outdoor on rough terrains. Several case studies are discussed to illustrate the usage of the framework.
Keywords :
Lyapunov methods; mobile robots; path planning; Lyapunov function; dynamic window approach; mobile robot navigation; model predictive control; navigation planning technique; Energy storage; Force; Navigation; Optimization; Planning; Vehicle dynamics; Vehicles; Dynamic window approach (DWA); passivity-based nonlinear model predictive control (PB/MPC); receding horizon control/control Lyapunov function (RHC/CLF);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2089654