Gregor Klančar (Avtor), Marija Seder (Avtor)

Povzetek

In this paper, we propose a global navigation function applied to model predictive control (MPC) for autonomous mobile robots, with application to warehouse automation. The approach considers static and dynamic obstacles and generates smooth, collision-free trajectories. The navigation function is based on a potential field derived from an E* graph search algorithm on a discrete occupancy grid and by bicubic interpolation. It has convergent behavior from anywhere to the target and is computed in advance to increase computational efficiency. The novel optimization strategy used in MPC combines a discrete set of velocity candidates with randomly perturbed candidates from particle swarm optimization. Adaptive horizon length is used to improve performance. The efficiency of the proposed approaches is validated using simulations and experimental results.

Ključne besede

navigacija;modelno prediktivno vodenje;planiranje poti;mobilni roboti;avtomatizacija skladišč;navigation;model predictive control;path planing;mobile robots;warehouse automation;

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.01 - Izvirni znanstveni članek
Organizacija: UL FE - Fakulteta za elektrotehniko
UDK: 007.52
COBISS: 97419779 Povezava se bo odprla v novem oknu
ISSN: 1424-8220
Št. ogledov: 115
Št. prenosov: 24
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Slovenski jezik
Sekundarne ključne besede: navigacija;modelno prediktivno vodenje;planiranje poti;mobilni roboti;avtomatizacija skladišč;
Vrsta dela (COBISS): Članek v reviji
Strani: str. 1-21
Letnik: ǂiss. ǂ4
Zvezek: 1455
Čas izdaje: Feb.-2 2022
DOI: 10.3390/s22041455
ID: 15584975