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Constrained Mobile Robot Navigation


N. Kariotoglou


Mobile robot navigation has attracted significant attention from researchers in the past decade. 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 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 traffic 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 fields. 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_4020
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