• DocumentCode
    580828
  • Title

    Robot navigation with model predictive equilibrium point control

  • Author

    Park, Jong Jin ; Johnson, Collin ; Kuipers, Benjamin

  • Author_Institution
    Dept. of Mech. Eng., Univ. of Michigan, Ann Arbor, MI, USA
  • fYear
    2012
  • fDate
    7-12 Oct. 2012
  • Firstpage
    4945
  • Lastpage
    4952
  • Abstract
    An autonomous vehicle intended to carry passengers must be able to generate trajectories on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot navigation in a structured, dynamic indoor environment, where the robot reasons about the near future and makes a locally optimal decision at each time step.
  • Keywords
    mobile robots; path planning; predictive control; autonomous vehicle; dynamic indoor environment; model predictive equilibrium point control; robot navigation; Aerospace electronics; Collision avoidance; Dynamics; Navigation; Optimization; Robots; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
  • Conference_Location
    Vilamoura
  • ISSN
    2153-0858
  • Print_ISBN
    978-1-4673-1737-5
  • Type

    conf

  • DOI
    10.1109/IROS.2012.6386195
  • Filename
    6386195
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=580828