NDLI: Receding Horizon Control in unknown environments: Experimental results

Content Provider	IEEE Xplore Digital Library
Author	Deittert, M. Richards, A. Mathews, G.
Copyright Year	2010
Description	Author affiliation: Advanced Technology Centre, BAE Systems, Bristol, United Kingdom (Mathews, G.) \|\| Aerospace Department, Faculty of Engineering, University of Bristol, United Kingdom (Deittert, M.; Richards, A.)
Abstract	This paper presents a novel approach to navigation in an a priori unknown, GPS-denied environment. The aim is to combine dynamic path planning with the ability to learn about the environment. The vehicle is tasked with autonomous travel from an uncertain initial position to an uncertain target, without prior mapping information. The environment is modelled using linear segments that represent boundaries between the estimated traversable and non-traversable regions. The approach integrates Receding Horizon Control (RHC) and Simultaneous Localisation and Mapping (SLAM). The control problem is formulated as a mixed integer linear program (MILP) and explicitly includes the obstacles and vehicle dynamics.We present the results of our experiments using Pioneer robots, as well as, simulation results which clearly demonstrated the impact of each component of the system.
Starting Page	3008
Ending Page	3013
File Size	740954
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509903
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Simultaneous localization and mapping Piecewise linear approximation Navigation Path planning Remotely operated vehicles Mobile robots Space vehicles Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Smooth path planning in constrained environments

Cooperative Localization and Mapping

Safe Receding Horizon Control of an Aerial Vehicle

A hybrid receding horizon control method for path planning in uncertain environments

Control and navigation of formations of car-like robots on a receding horizon

Nonlinear observability of the Centralized Multi-vehicle SLAM problem

Particle filtering for map-aided localization in sparse GPS environments

An information-theoretic approach to autonomous navigation and guidance of an uninhabited aerial vehicle in unknown environments

Efficient Two-phase 3D Motion Planning for Small Fixed-wing UAVs

Receding Horizon Control in unknown environments: Experimental results

Similar Documents

Smooth path planning in constrained environments

Cooperative Localization and Mapping

Safe Receding Horizon Control of an Aerial Vehicle

A hybrid receding horizon control method for path planning in uncertain environments

Control and navigation of formations of car-like robots on a receding horizon

Nonlinear observability of the Centralized Multi-vehicle SLAM problem

Particle filtering for map-aided localization in sparse GPS environments

An information-theoretic approach to autonomous navigation and guidance of an uninhabited aerial vehicle in unknown environments

Efficient Two-phase 3D Motion Planning for Small Fixed-wing UAVs

Receding Horizon Control in unknown environments: Experimental results