A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization Article Swipe
Henrik Andreasson
,
Jonas Larsson
,
Stephanie Lowry
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/s22072588
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.3390/s22072588
This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner—MSDU–is based on optimal control and formulates a non-linear optimization problem formulation that exploits the omni-motion capabilities of the vehicle to drive the vehicle to the goal in a smooth and efficient manner while avoiding obstacles and singularities. MSDU is designed for a real platform for mobile manipulation where one key function is the capability to drive in narrow and confined areas. The real-world evaluations show that MSDU planned paths that were smoother and more accurate than a comparable local path planner Timed Elastic Band (TEB), with a mean (translational, angular) error for MSDU of (0.0028 m, 0.0010 rad) compared to (0.0033 m, 0.0038 rad) for TEB. MSDU also generated paths that were consistently shorter than TEB, with a mean (translational, angular) distance traveled of (0.6026 m, 1.6130 rad) for MSDU compared to (0.7346 m, 3.7598 rad) for TEB.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s22072588
- https://www.mdpi.com/1424-8220/22/7/2588/pdf?version=1648467305
- OA Status
- gold
- Cited By
- 5
- References
- 32
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4220703078
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4220703078Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s22072588Digital Object Identifier
- Title
-
A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear OptimizationWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-03-28Full publication date if available
- Authors
-
Henrik Andreasson, Jonas Larsson, Stephanie LowryList of authors in order
- Landing page
-
https://doi.org/10.3390/s22072588Publisher landing page
- PDF URL
-
https://www.mdpi.com/1424-8220/22/7/2588/pdf?version=1648467305Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/1424-8220/22/7/2588/pdf?version=1648467305Direct OA link when available
- Concepts
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Motion planning, Computer science, Planner, Omnidirectional antenna, Control theory (sociology), Mobile robot, Path (computing), Simulation, Artificial intelligence, Robot, Control (management), Antenna (radio), Programming language, TelecommunicationsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
5Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 3, 2023: 1, 2022: 1Per-year citation counts (last 5 years)
- References (count)
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32Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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