Local model predictive control for navigation of a wheeled mobile robot using monocular information

• Autores: Lluís Pacheco Valls
• Directores de la Tesis: Ningsu Luo (dir. tes.), Xavier Cufí i Soler (dir. tes.)
• Lectura: En la Universitat de Girona ( España ) en 2009
• Idioma: inglés
• Tribunal Calificador de la Tesis: Joan Batlle Grabulosa (presid.), Winston Manuel García Gabín (secret.), Xiaoming Hu (voc.), Gabriel Oliver Codina (voc.), Alicia Casals (voc.)
• Materias:
  • Matemáticas
    • Ciencia de los ordenadores
      • Informática
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• Resumen

  • In this thesis are used natural agents for dinamic navigation of a differential driven wheeled mobile robot, The perception data are integrated on a local occupancy grid framework where planar floor model is assumed. The path-planning is done by considering the local desired configuration, as well as the meaningful local obstacle vertexes. The trajectory-tracking is implemented by using LMPC (local model predictive control) techniques, with prediction horizons of less than one second. Many experiments are tested in order to report the validity of the prosed methodology.