DeepAI
Log In Sign Up

Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups

06/05/2020
by   Christoph Rösmann, et al.
0

This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often include rotational components which span over non-Euclidean rotation groups. The proposed approach applies nonlinear increment and difference operators in the entire optimization scheme to explicitly consider these groups. Realizations include but are not limited to quadratic form and time-optimal objectives. A complex parking scenario for the kinematic bicycle model demonstrates the effectiveness and practical relevance of the approach. In case of simpler robots (e.g. differential drive), a comparative analysis in a hierarchical planning setting reveals comparable computation times and performance. The approach is available in a modular and highly configurable open-source C++ software framework.

READ FULL TEXT
12/11/2020

Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots

This paper studies jumping for wheeled-bipedal robots, a motion that tak...
10/11/2017

Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach

We introduce a real-time, constrained, nonlinear Model Predictive Contro...
05/30/2019

Multitasking collision-free motion planning algorithms in Euclidean spaces

We present optimal motion planning algorithms which can be used in desig...
08/17/2022

Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots

This paper introduces a new method for robot motion planning and navigat...
11/12/2021

ARC Nav – A 3D Navigation Stack for Autonomous Robots

Popular navigation stacks implemented on top of open-source frameworks s...
03/06/2019

FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Euclidean Signed Distance Field (ESDF) is useful for online motion plann...
08/14/2022

Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces

Navigation functions provide both path and motion planning, which can be...