TY - GEN
T1 - Model Predictive Control for the navigation of a nonholonomic vehicle with field-of-view constraints
AU - Maniatopoulos, Spyros
AU - Panagou, Dimitra
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - This paper considers the problem of navigating a differentially driven nonholonomic vehicle while maintaining visibility with a (stationary) target by means of Model Predictive Control (MPC). The approach combines the convergence properties of a dipolar vector field within a constrained nonlinear MPC formulation, in which visibility and input saturation constraints are encoded via recentered barrier functions. A dipolar vector field offers by construction a global feedback motion plan to a goal configuration, yet it does not ensure that visibility is always maintained. For this reason, it is suitably combined with recentered barrier functions so that convergence to the goal and satisfaction of visibility and input constraints are both achieved. The control strategy falls into the class of dual-mode MPC schemes and its efficacy is demonstrated through simulation results in the case of a mobile robot with unicycle kinematics.
AB - This paper considers the problem of navigating a differentially driven nonholonomic vehicle while maintaining visibility with a (stationary) target by means of Model Predictive Control (MPC). The approach combines the convergence properties of a dipolar vector field within a constrained nonlinear MPC formulation, in which visibility and input saturation constraints are encoded via recentered barrier functions. A dipolar vector field offers by construction a global feedback motion plan to a goal configuration, yet it does not ensure that visibility is always maintained. For this reason, it is suitably combined with recentered barrier functions so that convergence to the goal and satisfaction of visibility and input constraints are both achieved. The control strategy falls into the class of dual-mode MPC schemes and its efficacy is demonstrated through simulation results in the case of a mobile robot with unicycle kinematics.
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U2 - 10.1109/acc.2013.6580446
DO - 10.1109/acc.2013.6580446
M3 - Conference contribution
AN - SCOPUS:84883536584
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 3967
EP - 3972
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -