Title :
Unscented predictive motion planning of a nonholonomic system
Author :
Farrokhsiar, M. ; Najjaran, H.
Author_Institution :
Okanagan Sch. of Eng., Univ. of British Columbia, Kelowna, BC, Canada
Abstract :
An unscented predictive motion planning algorithm of a nonholonomic system using output feedback is presented. A two-wheeled robot is selected as the example nonholonomic system. A predictive motion planning scheme is used to find the suboptimal control inputs. In addition to the nonholonomic constraint, state estimation and collision avoidance chance constraints are incorporated to the predictive scheme. The closed form of the probabilistic constraints is solved by utilizing the unscented transform of the motion model. Numerical simulation results demonstrate a high level of robustness and effectiveness of the proposed algorithm in the presence of disturbances, measurement noise and chance constraints.
Keywords :
collision avoidance; mobile robots; path planning; predictive control; probability; state estimation; suboptimal control; wheels; collision avoidance chance constraints; measurement noise; nonholonomic constraint; nonholonomic system; numerical simulation; output feedback; probabilistic constraints; state estimation; suboptimal control inputs; two-wheeled robot; unscented predictive motion planning; unscented transform; Collision avoidance; Mathematical model; Planning; Prediction algorithms; Predictive models; Robots; Uncertainty;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980518
