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Obstacle avoidance using MPC


M. Kearney

IfA Internal Seminar Series

The talk details progress made towards development of an obstacle avoidance controller suitable for assisting an operator of an excavator or teleoperated manipulator to avoid collisions. This controller must be capable of avoiding non-convex obstacles and the lack of knowledge about future operator commands. An approach which addresses these aspects will be presented, along with simulations using an idealized system. Further requirements necessary for a practical implementation will be mentioned and a potential approaches sketched out.


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