A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-10
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In the study of collision-free navigation methods of multirobots, much attention has been paid to the constraints of external environment.
However, most of the wheeled mobile robots are subjected to nonholonomic constraints.
A collision between robots may occur if the nonholonomic constraints are neglected.
This paper presents an improved approach to collision-free navigation for multi-nonholonomic robots.
This approach combines the Optimal Reciprocal Collision Avoidance (ORCA) algorithm and Model Predictive Control (MPC) strategy.
ORCA used a simple robot model, in which kinematics and dynamics are ignored.
To cope with this problem, the MPC controller is introduced.
In each ORCA step, the reference trajectory, reference control inputs, and “safe zones” are generated based on the new velocity.
Consequently, the derived safe zone is transformed into the constraints of decision variables for a MPC controller.
Finally, quadratic programming is used to solve the MPC problem by successive linearization of an error model of the mobile robot.
Simulation results illustrate the effectiveness of the proposed method.
American Psychological Association (APA)
Mao, Run& Gao, Hongli& Guo, Liang. 2020. A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1195017
Modern Language Association (MLA)
Mao, Run…[et al.]. A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC. Mathematical Problems in Engineering No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1195017
American Medical Association (AMA)
Mao, Run& Gao, Hongli& Guo, Liang. A Novel Collision-Free Navigation Approach for Multiple Nonholonomic Robots Based on ORCA and Linear MPC. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1195017
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195017