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Collision Avoidance for Mobile Robots Based on an Occupancy Grid

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Recent Advances in Model Predictive Control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 485))

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Abstract

Communication among distributed systems under the regime of a distributed model predictive control scheme (DMPC), for example, mobile robots, is in many cases a necessary ingredient to steer such a system to its defined target in a reasonable time. Considering short sampling times due to the movement of mobile robots, the communication burden increases with a high density of robots in a shared continuous space. To attenuate the transmission load, many approaches consider triggering events, which transmit an update when the system state changes significantly. As in robotic scenarios with fast dynamics, a constant communication exchange is necessary, quantization approaches to attenuate the communication effort are discussed, and approaches based on state quantization are presented, which allows different communication reduction strategies based on differential updates, bounding boxes, and the estimation of the trajectory of the other robots, which are discussed in this paper. We demonstrate these approaches in simulations with mobile robots aiming for non-cooperative control and derive additional sufficient conditions to ensure the collision avoidance constraints in the DMPC scheme.

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Authors and Affiliations

  1. Universität Bremen, Bremen, Germany

    Tobias Sprodowski

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  1. Tobias Sprodowski
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Correspondence to Tobias Sprodowski .

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Editors and Affiliations

  1. Department of Electrical Engineering and Information Technology, Institute of Energy Systems, Energy Efficiency and Energy Economics, TU Dortmund University, Dortmund, Germany

    Timm Faulwasser

  2. Faculty of Electrical Engineering and Computer Science, Institute of Automatic Control, Leibniz University Hannover, Hannover, Germany

    Matthias A. Müller

  3. Faculty of Mathematics and Natural Sciences, Institute for Mathematics, Optimization-based Control, Technische Universität Ilmenau, Ilmenau, Germany

    Karl Worthmann

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Sprodowski, T. (2021). Collision Avoidance for Mobile Robots Based on an Occupancy Grid. In: Faulwasser, T., Müller, M.A., Worthmann, K. (eds) Recent Advances in Model Predictive Control. Lecture Notes in Control and Information Sciences, vol 485. Springer, Cham. https://doi.org/10.1007/978-3-030-63281-6_9

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  • DOI: https://doi.org/10.1007/978-3-030-63281-6_9

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  • Online ISBN: 978-3-030-63281-6

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