Unscented Predictive Motion Planning of a Nonholonomic System

摘要：

An unscented predictive motion planning algorithm of a nonholonomic system using output feedback is presented. A two-wheeled robot is selected as the example nonholonomic system. A predictive motion planning scheme is used to find the suboptimal control inputs. In addition to the nonholonomic constraint, state estimation and collision avoidance chance constraints are incorporated to the predictive scheme. The closed form of the probabilistic constraints is solved by utilizing the unscented transform of the motion model. Numerical simulation results demonstrate a high level of robustness and effectiveness of the proposed algorithm in the presence of disturbances, measurement noise and chance constraints.

作者: M. Farrokhsiar H. Najjaran

作者单位: Okanagan School of Engineering,University of British Columbia,Kelowna,BC,V1V 1V7 Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4480-4485

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）