Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments

• Published in: IEEE robotics and automation letters Vol. 4; no. 4; pp. 4459 - 4466
• Main Authors: Brito, Bruno, Floor, Boaz, Ferranti, Laura, Alonso-Mora, Javier
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous cars; Collision avoidance; Collision dynamics; Computational modeling; Contouring; Dynamics; Ellipsoids; Indoor environments; Morphology; motion and path planning; Motion planning; Moving obstacles; Nonlinear control; Optimization; Planning; Predictive control; Predictive models; Robots; Tracking errors; Vehicle dynamics

This letter presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local trajectory that minimizes the tracking error while avoiding obsta...