2,406 research outputs found
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
In this paper, we present a Model Predictive Control (MPC) framework based on
path velocity decomposition paradigm for autonomous driving. The optimization
underlying the MPC has a two layer structure wherein first, an appropriate path
is computed for the vehicle followed by the computation of optimal forward
velocity along it. The very nature of the proposed path velocity decomposition
allows for seamless compatibility between the two layers of the optimization. A
key feature of the proposed work is that it offloads most of the responsibility
of collision avoidance to velocity optimization layer for which computationally
efficient formulations can be derived. In particular, we extend our previously
developed concept of time scaled collision cone (TSCC) constraints and
formulate the forward velocity optimization layer as a convex quadratic
programming problem. We perform validation on autonomous driving scenarios
wherein proposed MPC repeatedly solves both the optimization layers in receding
horizon manner to compute lane change, overtaking and merging maneuvers among
multiple dynamic obstacles.Comment: 6 page
Realization of reactive control for multi purpose mobile agents
Mobile robots are built for different purposes, have different physical size, shape, mechanics and electronics. They are required to work in real-time, realize more than one goal simultaneously, hence to communicate and cooperate with other agents. The approach proposed in this paper for mobile robot control is reactive and has layered structure that supports multi sensor perception. Potential field method is implemented for both obstacle avoidance and goal tracking. However imaginary forces of the obstacles and of the goal point are separately treated, and then resulting behaviors are fused with the help of the geometry. Proposed control is tested on simulations where
different scenarios are studied. Results have confirmed the high performance of the method
MPC-based humanoid pursuit-evasion in the presence of obstacles
We consider a pursuit-evasion problem between humanoids in the presence of obstacles. In our scenario, the pursuer enters the safety area of the evader headed for collision, while the latter executes a fast evasive motion. Control schemes are designed for both the pursuer and the evader. They are structurally identical, although the objectives are different: the pursuer tries to align its direction of motion with the line- of-sight to the evader, whereas the evader tries to move in a direction orthogonal to the line-of-sight to the pursuer. At the core of the control architecture is a Model Predictive Control scheme for generating a stable gait. This allows for the inclusion of workspace obstacles, which we take into account at two levels: during the determination of the footsteps orientation and as an explicit MPC constraint. We illustrate the results with simulations on NAO humanoids
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