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Mobile Robot Local Predictive Control under Perception Constraints
Pacheco Valls, Lluís; Luo, Ningsu; Ferrer Vila, Jordi
This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platformused is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields
2013-10-30
Visió per ordinador
Computer vision
Control predictiu
Predictive control
Robots mòbils -- Sistemes de control
Mobile robots -- Control systems
Tots els drets reservats
Article
info:eu-repo/semantics/acceptedVersion
International Society for Advanced Research
         

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