Resumen de Local model predictive control for navigation of a wheeled mobile robot using monocular information
Lluís Pacheco Valls
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.
