Set-theoretic approach for autonomous tracked vehicles involved in post-disaster first relief operations

• Published in: International Conference on Control, Decision and Information Technologies (Online) pp. 2006 - 2011
• Main Authors: Scordamaglia, Valerio, Ferraro, Alessia, Tedesco, Francesco, Franze, Giuseppe
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.07.2024
• Subjects: Collision avoidance; Computational modeling; Dynamics; Mathematical models; Numerical models; Optimization; Planning; Tracking; Uncertainty; Vehicle dynamics
• DOI: 10.1109/CoDIT62066.2024.10708445

This paper addresses the problem of motion planning for an autonomous, tracked mobile robot whose mathematical model depends on uncertain parameters, with constrained moving capabilities, operating in a cluttered environment. The proposed algorithm exploits the concept of one-step ahead controllable sets. In particular, motion sequences compatible with uncertainties and nonlinear model dynamics are determined in the off-line phase with the aim to determine a collision-free path capable to accomplish the given mission. Conversely, the on-line operations are devoted to determine the most appropriate control action by solving a computationally simple optimization problem. Finally, some preliminary numerical results are instrumental to testify the effectiveness of the proposed approach.