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A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles

Olofsson, Björn LU ; Berntorp, Karl LU and Robertsson, Anders LU (2015) In Report TFRT 7643.
Abstract
This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a... (More)
This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a pseudo-omnidirectional mobile robot, and compare it to an existing algorithm. The result is a significant decrease in the time for completing the desired path. In addition, the method allows a smooth velocity trajectory while avoiding intermittent stops in the path execution. (Less)
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author
organization
publishing date
type
Book/Report
publication status
published
subject
in
Report TFRT
volume
7643
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
ISSN
0280-5316
project
SMErobotics
language
English
LU publication?
yes
id
e94a2763-95d5-4ab7-938c-561803015f07 (old id 8232521)
date added to LUP
2015-11-27 15:52:22
date last changed
2016-04-15 21:29:37
@techreport{e94a2763-95d5-4ab7-938c-561803015f07,
  abstract     = {This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a pseudo-omnidirectional mobile robot, and compare it to an existing algorithm. The result is a significant decrease in the time for completing the desired path. In addition, the method allows a smooth velocity trajectory while avoiding intermittent stops in the path execution.},
  author       = {Olofsson, Björn and Berntorp, Karl and Robertsson, Anders},
  institution  = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  issn         = {0280-5316},
  language     = {eng},
  series       = {Report TFRT},
  title        = {A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles},
  volume       = {7643},
  year         = {2015},
}