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A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles

In English

Författare

Summary, in English

This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a pseudo-omnidirectional mobile robot, and compare it to an existing algorithm. The result is a significant decrease in the time for completing the desired path. In addition, the method allows a smooth velocity trajectory while avoiding intermittent stops in the path execution.

Publiceringsår

2015

Språk

Engelska

Publikation/Tidskrift/Serie

Technical Reports TFRT-7643

Dokumenttyp

Rapport

Förlag

Department of Automatic Control, Lund Institute of Technology, Lund University

Ämne

  • Robotics
  • Control Engineering

Status

Published

Projekt

  • SMErobotics
  • RobotLab LTH

Forskningsgrupp

  • LCCC
  • ELLIIT

ISBN/ISSN/Övrigt

  • ISSN: 0280-5316