A Receding Horizon Control Approach to Navigation in Virtual Corridors
Applications in mobile robotics require safe and goal-oriented motion while navigating in an environment obstructed by obstacles. The dynamic window approach (DWA) to collision avoidance and its different variants provide safe motion among obstacles, although they have the same limitation, namely using an objective function consisting of weighted terms. Different situations require different weights; however, there is no algorithm for choosing them. The Global Dynamic Window Approach with Receding Horizon Control (GDWA/RHC) presented in this chapter is similar to DWA but it uses a global navigation function (NF) and a receding horizon control scheme for guiding the robot. In order to make the calculation of the navigation function computationally tractable it is constructed by interpolation from a discrete function. In addition to that the domain of the navigation function is restricted to a virtual corridor between the start and goal positions of the robot.
KeywordsMobile Robot Model Predictive Control Obstacle Avoidance Goal Point Visibility Graph
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