Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots

To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe, dynamically feasible trajectories in real time is challenging, and pl...

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Veröffentlicht in:	The International journal of robotics research 2020-10, Vol.39 (12), p.1419-1469
Hauptverfasser:	Kousik, Shreyas, Vaskov, Sean, Bu, Fan, Johnson-Roberson, Matthew, Vasudevan, Ram
Format:	Artikel
Sprache:	eng
Schlagworte:	Barriers Complexity Feasibility Hardware Horizon Iterative methods Nonlinear control Parameterization Predictive control Real time Robot dynamics Run time (computers) Safety Tracking errors Trajectory planning
Online-Zugang:	Volltext
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