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Publication - Professor Arthur Richards

    Robot Navigation using Convex Model Predictive Control and Approximate Operating Region Optimization

    Citation

    Bali, C & Richards, A, 2017, ‘Robot Navigation using Convex Model Predictive Control and Approximate Operating Region Optimization’. in: 2017 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2017). Institute of Electrical and Electronics Engineers (IEEE)

    Abstract

    A method for real-time robot navigation with obstacle avoidance is presented. A two-stage approach is proposed: the use of online Simulated Annealing (SA) to optimize a convex operating region in configuration space is paired with Model Predictive Control (MPC) to determine a locally optimal motion plan. The method retains recursive feasibility guarantees from MPC and speed of solution of the convex optimal control problem. Meanwhile, the convexification performed by the SA enables the method to operate with unstructured environment representations, such as point clouds or line scans.

    Full details in the University publications repository