2000 character limit reached
NMPC for Collision Avoidance by Superellipsoid Separation (2404.14257v2)
Published 22 Apr 2024 in math.OC
Abstract: This paper introduces a novel NMPC formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination of this approach with the separating hyperplane theorem and Optimization Engine (OpEn) allows to achieve efficient obstacle avoidance in autonomous heavy equipment and robotics. We demonstrate the efficacy of the approach through simulated and experimental results, showcasing a skid-steer loader's capability to navigate in obstructed environments.
- Convex Analysis and Monotone Operator Theory in Hilbert Spaces. Springer.
- Convex optimization. Cambridge University Press.
- Unmanned rotorcraft systems. Springer Science & Business Media.
- Autonomous navigation of heavy construction equipment. Comp-Aided Civ Infr Eng, 10(5), 357–370.
- Ericson, C. (2004). Real-time collision detection. CRC Press.
- Solved problems in analysis: As applied to gamma, beta, legendre and bessel functions. Courier Corporation.
- 6-DOF robotic obstacle avoidance path planning based on artificial potential field method. In UR, 165–168. IEEE.
- Gridgeman, N.T. (1970). Lamé ovals. The Mathematical Gazette, 54(387), 31–37.
- Nonlinear model predictive control. Springer.
- Algorithm AS 136: A k-means clustering algorithm. Journal of the Royal Statistical Society. Series C (Applied statistics), 28(1), 100–108.
- Comprehensive study of skid-steer wheeled mobile robots: Development and challenges. Int J Rob Res Appl, 48(1), 142–156.
- Khan, S. (2022). Design, testing and validation of model predictive control for an unmanned ground vehicle. Ph.D. thesis, UNSW Sydney.
- LaValle, S.M. (2006). Planning algorithms. Cambridge University Press.
- A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments. Vehicle system dynamics, 56(6), 853–882.
- On-site autonomous construction robots: Towards unsupervised building. Automation in construction, 119, 103312.
- Trajectory planning and obstacle avoidance for hyper-redundant serial robots. J Mechan Robot, 9(4), 041010.
- A review: On path planning strategies for navigation of mobile robot. Defence Technology, 15(4), 582–606.
- Real-time cooperative motion planning using efficient model predictive contouring control. In IV Symposium, 1495–1503. IEEE.
- A review on path planning and obstacle avoidance algorithms for autonomous mobile robots. J Robot, 2022.
- Two and a half carrots – a versatile and intuitive optimisation-based path-following approach for road vehicles. In MED, 364–370. IEEE.
- Rosin, P.L. (2000). Fitting superellipses. IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(7), 726–732.
- Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In ECC, 1523–1528.
- Scattolini, R. (2009). Architectures for distributed and hierarchical model predictive control – a review. J Proc Contr, 19(5), 723–731.
- Implementing conditional inequality constraints for optimal collision avoidance. J Aeron Aerosp Eng.
- OpEn: Code generation for embedded nonconvex optimization. In IFAC World Congress. Berlin.
- Computation of minimum-volume covering ellipsoids. Operations Research, 52(5), 690–706.
- Autonomous pro-active real-time construction worker and equipment operator proximity safety alert system. Automation in construction, 19(5), 630–640.
- Weisstein, E.W. (2002). CRC concise encyclopedia of mathematics. CRC Press.
- Vision based drone obstacle avoidance by deep reinforcement learning. AI, 2(3), 366–380.
Sponsor
Paper Prompts
Sign up for free to create and run prompts on this paper using GPT-5.
Top Community Prompts
Collections
Sign up for free to add this paper to one or more collections.