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Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

Part of the SpringerBriefs in Electrical and Computer Engineering Book Series

DOI: 10.1007/978-1-4471-5049-7

ISBN: 978-1-4471-5048-0

Publisher: Springer London - Springer Journals

Apr 19, 2013

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Introduction

Tahirovic, Adnan; Magnani, Gianantonio

Pages: 1 –10

[The popularity of the research on unmanned ground vehicles has increased recently due to a variety of operations and environments. Planetary explorations, search and rescue missions in hazard areas, surveillance, humanitarian de-mining, as well as agriculture applications such as pruning vine...
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PB/MPC Navigation Planner

Tahirovic, Adnan; Magnani, Gianantonio

Pages: 11 –24

[In this chapter, a rather straightforward procedure is presented to obtain navigation algorithms for a broad class of vehicle models, based on an adapted version of the passivity-based nonlinear MPC examined in [1]. The proposed PB/MPC approach for navigation planning can be seen as a...
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Examples

Tahirovic, Adnan; Magnani, Gianantonio

Pages: 25 –40

[This chapter demonstrates the design procedure of the PB/MPC motion planning framework. The first two examples consider the vehicle models that might be used on flat terrains, a unicycle, and a car-like mobile vehicle. The third example covers a rather general model that can be used for rough...
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Some Limitations and Real-Time Implementation

Tahirovic, Adnan; Magnani, Gianantonio

Pages: 41 –51

[This chapter gives an analysis of the worst possible case which the vehicle might experience during the task execution on rough terrains while using the PB/MPC motion planner. Additionally, we present a possible real-time implementation of an MPC-like motion planner using algorithms developed...
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Conclusion

Tahirovic, Adnan; Magnani, Gianantonio

Pages: 53 –54

[The presented PB/MPC motion planning approach is based both on the energy-shaping technique using a navigation function obtained from the terrain configuration and on the passivity-based MPC concept. The planner can be seen as a generalized DWA planning technique. The PB/MPC algorithm is a...

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