Abstract
In this paper the trajectory planning problem for unicycle robots is studied. This problem is particularly difficult to solve online due to its inherently nonlinear and nonconvex structure. The first aim of the paper is to overcome these difficulties using model predictive control (MPC) when a single robot is considered. Several requirements must be fulfilled by the optimal trajectory, such as respecting physical limitations as well as track constraints. The second aim of the paper is to extend the results to a group of robots using distributed MPC providing formation control and inter-robot collision avoidance.
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Costantini, G., Rostami, R., Görges, D. (2020). Online Trajectory Planning and Collision Avoidance for a Group of Robots Using Distributed Model Predictive Control. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_28
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DOI: https://doi.org/10.1007/978-3-030-19648-6_28
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