On corridor enlargement for MPC-based navigation in cluttered environments - INRIA - Institut National de Recherche en Informatique et en Automatique Access content directly
Conference Papers Year : 2024

On corridor enlargement for MPC-based navigation in cluttered environments

Sorin Olaru
Iris Ballesteros-Tolosana
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Simon Mustaki
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  • PersonId : 1378001

Abstract

The construction of a space partition in a cluttered environment allows for the creation of graph-based paths, establishing safe navigation corridors for agents. Then, it exploits them according to the available control degrees of freedom and dynamical constraints. Evaluating corridor safety relies on the distance between the path points and the nearest obstacles, influencing the real-time performance and robustness of navigation. This paper revisits the convex lifting method for space partition, emphasizing the generation and enlargement of safe corridors. The iterative enlargement algorithm pursues an increase in average corridor width while ensuring a monotonic increase in the minimum corridor width.
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Dates and versions

hal-04565735 , version 1 (02-05-2024)

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  • HAL Id : hal-04565735 , version 1

Cite

Turan Konyalıoğlu, Sorin Olaru, Silviu-Iulian Niculescu, Iris Ballesteros-Tolosana, Simon Mustaki. On corridor enlargement for MPC-based navigation in cluttered environments. NMPC 2024 - 8th IFAC Conference on Nonlinear Model Predictive Control, Aug 2024, Kyoto, Japan. ⟨hal-04565735⟩
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