文章基本信息

标题：Risk Constrained Navigation Using MILP-MPC Formulation
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作者：Samuel C. Pinto ; Rubens J.M. Afonso
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3586-3591
DOI：10.1016/j.ifacol.2017.08.687
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a novel approach to deal with chance constrained navigation, i.e., a problem where a robot has to plan its path among obstacles in the presence of noise and perturbations, subject to a maximum probability of failure. An improved formulation allows the problem to be framed as a single stage optimization using the MILP-MPC framework through the use of a piecewise linear approximation of the non-linear function that represent the chance constraints. Time is included in the optimization to enable more efficient risk allocation. A comparison with state-of-the-art algorithm shows advantages of the proposed approach.
关键词：KeywordsAutonomous Robotics SystemsPath PlanningProbabilistic RobustnessRobot NavigationStochastic Optimal Control