Paper Info
Title
Navigating Discrete Difference Equation Governed WMR by Virtual Linear Leader Guided HMPC
Abstract
In this paper, we revisit model predictive control (MPC) for the classical wheeled mobile robot (WMR) navigation problem. We prove that the reachable set based hierarchical MPC (HMPC), a state-of-the-art MPC, cannot handle WMR navigation in theory due to the non-existence of non-trivial linear system with an under-approximate reachable set of WMR. Nevertheless, we propose a virtual linear leader guided MPC (VLL-MPC) to enable HMPC structure. Different from current HMPCs, we use a virtual linear system with an under-approximate path set rather than the traditional trace set to guide the WMR. We provide a valid construction of the virtual linear leader. We prove the stability of VLL-MPC, and discuss its complexity. In the experiment, we demonstrate the advantage of VLL-MPC empirically by comparing it with NMPC, LMPC and anytime RRT* in several scenarios.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9197375
2020 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
DocType
Volume
navigating discrete difference equation governed WMR,virtual linear leader guided HMPC,model predictive control,classical wheeled mobile robot navigation problem,hierarchical MPC,state-of-the-art MPC,WMR navigation,nonexistence,nontrivial linear system,under-approximate reachable set,VLL-MPC,HMPC structure,virtual linear system,under-approximate path,RRT*
Conference
2020
Issue
ISSN
ISBN
1
1050-4729
978-1-7281-7396-2
Citations 
PageRank 
References 
0
0.34
13
Authors
7
Name
Order
Citations
PageRank
Chao Huang172.15
Xin Chen222.40
Enyi Tang301.69
Mengda He4103.59
Lei Bu518922.50
Shengchao Qin671162.81
Yifeng Zeng741543.27