Vehicle navigation in populated areas using predictive control with environmental uncertainty handling

• Autorzy: Skrzypczyk K. , Mellado M.

Identyfikatory

DOI

10.1515/acsc-2017-0023

• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

Słowa kluczowe

EN

motion planning; prediction; uncertainty handling; game theory

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2017
• Tom: Vol. 27, no. 2
• Strony: 351--359
• Opis fizyczny: Bibliogr. 11 poz., diagr., rys., wzory

Twórcy

autor

Skrzypczyk K.

• Institute of Automatic Control, Silesian University of Technology, Akademicka str. 16, 44-100 Gliwice, Poland

autor

Mellado M.

• Institutu de Automatica e Informatica Industrial Univeresidad Politecnica de venecia, Spain

Bibliografia

• [1] S. Choi, S. Kim and S. Oh: Real-time navigation in crowded dynamic environments using Gaussian process motion control. In Proc. of IEEE Int. Conf. on Robotics and Automation, (2014).
• [2] D. Ding and R. A. Cooper: Electric-powered wheelchairs: A review of current technology and insight into future directions. IEEE Control Systems Magazine, 25(2), (2005), 22-34.
• [3] D. Feil-Seifer and M. Mataric: People-aware navigation for goal-oriented behavior involving a human partner. IEEE Int. Conf. on Development and Learning, Germany, 2 (2011), 24-27.
• [4] A. Galuszka and A. Swierniak: Non-cooperative game approach to multirobot planning. Int. J. of Applied Mathematics and Computer Science, 15(3), (2005), 359-367.
• [5] C. Gao, M. Sands and J. R. Spletzer: Towards autonomous wheelchair systems in urban environments. In Proc. of Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, Hamburg, Germany, (2012), 77-82.
• [6] L. S.Dutt and M. Kurian: Handling of uncertainty - A Survey. Int. J. of Scientific and Research Publications, 3(1), (2013).
• [7] J. Milnor: Games Against Nature, in: R. Thrall, C. Coombs and R. Davis (Eds.), Decision Processes, Wiley, New York, 1954, 49-59.
• [8] M. Moussaid, D. Helbing and G. Theraulaz: How simple rules determine pedestrian behavior and crowd disasters. Proc. of the National Academy of Science of the United States of America, 108(17), (2011), 6884-6888.
• [9] D. Shi, E. G. Collins Jr., A. Donate and X. Liu: Human-aware robot motion planning with velocity constraints. Int. Symp. on Collaborative Technologies and Systems, Irvin, CA, USA, (2008), 490-497.
• [10] K. Skrzypczyk: Control of a team of mobile robots based on non-cooperative equilibria with partial coordination. Int. J. of Applied Mathematics and Computer Science, 15(1), (2005), 89-97.
• [11] K. Skrzypczyk: Time optimal tracking a moving target by a mobile vehicle-game theoretical approach. Przeglad Elektrotechniczny, 86(3), (2010), 211-215.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).