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ICRA
2009
IEEE

Randomized model predictive control for robot navigation

13 years 10 months ago
Randomized model predictive control for robot navigation
— We suggest a new navigation approach to mobile robots, within a nonlinear model predictive control framework where a navigation function is used as a control Lyapunov function. We propose a novel approach to the nonlinear optimization problem, by relaxing it and by using randomized algorithms. The advantage of the proposed combination of navigation functions for robot motion planning with randomized algorithms within an MPC framework, is that the control design offers stability by design, is platform independent, and allows the designer to trade-off performance for (computation) speed, according to the application requirements.
Jorge L. Piovesan, Herbert G. Tanner
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Jorge L. Piovesan, Herbert G. Tanner
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