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Constrained Autonomous Mobile Robot Navigation


J. Tzanos

Semester/Bachelor Thesis, HS 09

Mobile robot navigation has attracted signi cant attention from researchers in the past decade [1] [2]. However, there is no general navigation method that deals with control constraints introduced by physical limitations. For instance, in an aircraft control problem velocities can never be negative. Simulation results [3] suggest that a Model Predictive Control (MPC) approach has the potential to succesfully navigate multiple agents under tight non-convex constraint bounds which are common in air trac control. A stable tracking system is developed in order to test the performance of the proposed algorithm in practice. The results are compared with simple heuristic techniques and a general navigation scheme based on potential elds. The practical success of the algorithm is con rmed by multiple experimental results.


Type of Publication:

(13)Semester/Bachelor Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3576
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