Robot navigation with model predictive equilibrium point control

An autonomous vehicle intended to carry passengers must be able to generate trajectories on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot navigation in a structured, dynamic indoor environment, where the robot reasons about the near future and makes a locally opti...

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Bibliographic Details
Main Authors: Jong Jin Park, Johnson, C., Kuipers, B.
Format: Conference Proceeding
Language:English
Subjects:
Aerospace electronics
Collision avoidance
Dynamics
Navigation
Optimization
Robots
Trajectory
Online Access:Request full text
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Description
Summary:An autonomous vehicle intended to carry passengers must be able to generate trajectories on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot navigation in a structured, dynamic indoor environment, where the robot reasons about the near future and makes a locally optimal decision at each time step.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6386195