Receding horizon control for mobile robot path planning in unknown dynamic environments

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	Receding horizon control for mobile robot path planning in unknown dynamic environments
	Chen Y(陈洋); Cheng L(程磊); Wu HY(吴怀宇); Yang YH(杨艳华)
	2014
会议名称	26th Chinese Control and Decision Conference, CCDC 2014
会议日期	May 31, 2014 - June 2, 2014
会议地点	Changsha, China
关键词	Collision avoidance Mobile robots Quadratic programming Robot applications
页码	1505-1509
中文摘要	Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted into mathematic constraint. Besides, the distance from target to robot is optimized through involving a quadratic cost function. Finally, a quadratic constrained quadratic programming (QCQP) is generated, from which a sequence including multiple control steps is easily obtained. Based on the proposed approach, simulations are demonstrated to verify the effectiveness of the novel method. © 2014 IEEE.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	26th Chinese Control and Decision Conference, CCDC 2014
会议录出版者	IEEE Computer Society
会议录出版地	Washington, DC
语种	英语
ISBN号	978-1-4799-3706-6
WOS记录号	WOS:000343577701126
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15160]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Chen Y,Cheng L,Wu HY,et al. Receding horizon control for mobile robot path planning in unknown dynamic environments[C]. 见:26th Chinese Control and Decision Conference, CCDC 2014. Changsha, China. May 31, 2014 - June 2, 2014.