Clustering Method for Monte Carlo Model Predictive Control

Monte Carlo Model Predictive Control is a variant of a sampling-based model predictive control, which is suitable for extensively parallel processors. In this study, we focus on the multimodality of the objective function and propose a clustering method to cope with it. As an application of multimod...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2021, Vol.54 (14), p.251-256
Main Authors: Toda, Tatsuya, Nakatani, Shintaro, Date, Hisashi
Format: Article
Language:English
Subjects:
Clustering
Model Predictive Control
Monte Carlo method
Multimodality
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Summary:Monte Carlo Model Predictive Control is a variant of a sampling-based model predictive control, which is suitable for extensively parallel processors. In this study, we focus on the multimodality of the objective function and propose a clustering method to cope with it. As an application of multimodality, we consider a navigation problem of a mobile robot that avoids some obstacles. Simulation results show that our method is effective when the avoiding path splits into pieces.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2021.10.361