Dynamic collision avoidance among multiple mobile robots: A model predictive control approach

Ryuhei Mikumo, Hiroyuki Ichihara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper deals with dynamic collision avoidance of multiple mobile robots by model predictive control (MPC). Each robot has the same control law based on an MPC problem which has constraints on avoidance of other robots. A numerical example shows that a robot can reach to a goal point from a start point while avoiding collision with another robot that follows its start and goal points.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1136-1137
Number of pages2
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - 10 Nov 2017
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: 19 Sep 201722 Sep 2017

Publication series

Name2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Volume2017-November

Conference

Conference56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period19/09/1722/09/17

Keywords

  • Collision Avoidance
  • Mobile Robot
  • Model Predictive Control

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  • Cite this

    Mikumo, R., & Ichihara, H. (2017). Dynamic collision avoidance among multiple mobile robots: A model predictive control approach. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (pp. 1136-1137). (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017; Vol. 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105463