Occupancy grid based distributed MPC for mobile robots | IEEE Conference Publication | IEEE Xplore

Occupancy grid based distributed MPC for mobile robots


Abstract:

In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to proje...Show More

Abstract:

In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to project the predicted state trajectory onto a grid resulting in an occupancy grid prediction. This approach has the advantage of utilizing continuous optimization methods while only quantized information is exchanged. We consider non-holonomic mobile robots to numerically and experimentally investigate the proposed method.
Date of Conference: 24-28 September 2017
Date Added to IEEE Xplore: 14 December 2017
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Vancouver, BC, Canada

References

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