Post on 05-Jan-2016
description
Reactive Trajectory Tracking For Mobile RobotsBased on Non Linear Model Predictive Control
• A motion model is used to compute on-line optimal M-step-ahead control sequences
• Obstacles are avoided by incorporating range-sensor data into the numerical optimization
• Simulation results indicate that complex maneuvers can be tracked among obstacles in real-time
• Performance in the presence of sensor noise and model uncertainty must be investigated
Stavros G. VougioukasAgricultural Engineering Laboratory, Faculty of Agriculture,
Aristotle University of Thessaloniki, Greece
Fishtail maneuver and deformation due to obstacle