NDLI: Passivity-based model predictive control for mobile robot navigation planning in rough terrains

Content Provider	IEEE Xplore Digital Library
Author	Tahirovic, A. Magnani, G.
Copyright Year	2010
Description	Author affiliation: Dipartimento di Elettronica e Informazione, Politecnico di Milano, Via Ponzio 34/5, 20133 Milan, Italy (Tahirovic, A.; Magnani, G.)
Abstract	This paper presents a novel navigation and motion planning algorithm for mobile vehicles in rough terrains. The main purpose of the algorithm is to generate feasible trajectories while selecting smoother paths, in the sense of level of roughness, toward the goal position. The purpose is achieved by adapting the passivity-based model predictive control optimization setup (PB/MPC), recently proposed for flat terrains, to the case of an outdoor irregular terrain. The passivity-based concept is used to enhance MPC in order to stabilize the goal position guaranteeing the task completion. The framework which is obtained can exploit any vehicle model in order to carefully take into account the vehicle dynamics and terrain structure as well as the wheel-terrain interaction. The inherited property of the MPC optimization allows to impose any additional constraint into the PB/MPC navigation, such as those needed to prevent vehicle rollover and unnecessary sideslip. The cost function representing the level of roughness along a candidate path is used to select the appropriate terrain areas toward the goal position. The results have been verified by several simulation examples.
Starting Page	307
Ending Page	312
File Size	1296075
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650821
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Navigation Optimization Vehicle dynamics Mathematical model Wheels Mobile communication
Content Type	Text
Resource Type	Article

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