A novel collision-free navigation approach for multiple nonholonomic robots based on ORCA and linear MPC
type: Item
instance of: scholarly article
title: A novel collision-free navigation approach for multiple nonholonomic robots based on ORCA and linear MPC
zbMATH Open document ID: 1459.93042
DOI: 10.1155/2020/4183427
author: Run Mao
author: Hongli Gao
author: Liang Guo
published in: Mathematical Problems in Engineering
publication date: 2020-07-03T00:00:00Z
review text: Summary: In the study of collision-free navigation methods of multirobots, much attention has been paid to the constraints of external environment. However, most of the wheeled mobile robots are subjected to nonholonomic constraints. A collision between robots may occur if the nonholonomic constraints are neglected. This paper presents an improved approach to collision-free navigation for multi-nonholonomic robots. This approach combines the Optimal Reciprocal Collision Avoidance (ORCA) algorithm and Model Predictive Control (MPC) strategy. ORCA used a simple robot model, in which kinematics and dynamics are ignored. To cope with this problem, the MPC controller is introduced. In each ORCA step, the reference trajectory, reference control inputs, and ``safe zones'' are generated based on the new velocity. Consequently, the derived safe zone is transformed into the constraints of decision variables for a MPC controller. Finally, quadratic programming is used to solve the MPC problem by successive linearization of an error model of the mobile robot. Simulation results illustrate the effectiveness of the proposed method.
Mathematics Subject Classification ID: 93B45
Mathematics Subject Classification ID: 49K15
Mathematics Subject Classification ID: 49N10
Mathematics Subject Classification ID: 70E60
zbMATH DE Number: 7217406
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2020/4183427
OpenAlex ID: W3035451587
cites work: Q4794224
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description: scientific article; zbMATH DE number 7217406