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Dettaglio pubblicazione

2023, ROBOTICS AND AUTONOMOUS SYSTEMS, Pages - (volume: 172)

Dynamics-aware navigation among moving obstacles with application to ground and flying robots (01a Articolo in rivista)

Tarantos Spyridon G., Belvedere Tommaso, Oriolo Giuseppe

We present a novel method for navigation of mobile robots in challenging dynamic environments. The method, which is based on Nonlinear Model Predictive Control (NMPC), hinges upon a specially devised constraint for dynamics-aware collision avoidance. In particular, the constraint builds on the notion of avoidable collision state, taking into account the robot actuation capabilities in addition to the robot–obstacle relative distance and velocity. The proposed approach is applied to both ground and flying robots and tested in a variety of static and dynamic environments. Comparative simulations with an NMPC using a purely distance-based collision avoidance constraint confirm the superiority of the dynamics-aware version, especially for high-speed navigation among moving obstacles. Moreover, the results indicate that the method can work with relatively short prediction horizons and is therefore amenable to real-time implementation.
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