Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach

03/04/2022
by   Ibrahim Ibrahim, et al.
0

This paper introduces a novel approach for whole-body motion planning and dynamic occlusion avoidance. The proposed approach reformulates the visibility constraint as a likelihood maximization of visibility probability. In this formulation, we augment the primary cost function of a whole-body model predictive control scheme through a relaxed log barrier function yielding a relaxed log-likelihood maximization formulation of visibility probability. The visibility probability is computed through a probabilistic shadow field that quantifies point light source occlusions. We provide the necessary algorithms to obtain such a field for both 2D and 3D cases. We demonstrate 2D implementations of this field in simulation and 3D implementations through real-time hardware experiments. We show that due to the linear complexity of our shadow field algorithm to the map size, we can achieve high update rates, which facilitates onboard execution on mobile platforms with limited computational power. Lastly, we evaluate the performance of the proposed MPC reformulation in simulation for a quadrupedal mobile manipulator.

READ FULL TEXT

page 3

page 4

page 5

page 6

research
05/15/2019

Feedback MPC for Torque-Controlled Legged Robots

The computational power of mobile robots is currently insufficient to ac...
research
09/07/2023

Occlusion-Free Image Based Visual Servoing using Probabilistic Control Barrier Certificates

Image-based visual servoing (IBVS) is a widely-used approach in robotics...
research
02/25/2022

Visibility Maximization Controller for Robotic Manipulation

Occlusions caused by a robot's own body is a common problem for closed-l...
research
12/22/2021

Real-Time Multi-Convex Model Predictive Control for Occlusion Free Target Tracking

This paper proposes a Model Predictive Control (MPC) algorithm for targe...
research
09/06/2022

Adaptive Complexity Model Predictive Control

This work introduces a formulation of model predictive control (MPC) whi...
research
05/27/2023

Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator

We consider a nonprehensile manipulation task in which a mobile manipula...
research
11/23/2020

Risk-Sensitive Motion Planning using Entropic Value-at-Risk

We consider the problem of risk-sensitive motion planning in the presenc...

Please sign up or login with your details

Forgot password? Click here to reset