A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization Article Swipe
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· 2022
· Open Access
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· 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.
Related Topics To Compare & Contrast
- 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