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A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-2953-1564
ABB Corporate Research, Västerås, Sweden.
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-3788-499X
2022 (English)In: Sensors, E-ISSN 1424-8220, Vol. 22, no 7, article id 2588Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
MDPI, 2022. Vol. 22, no 7, article id 2588
Keywords [en]
local planning, optimal control, obstacle avoidance
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-98510DOI: 10.3390/s22072588ISI: 000781087300001PubMedID: 35408204Scopus ID: 2-s2.0-85127034496OAI: oai:DiVA.org:oru-98510DiVA, id: diva2:1650509
Funder
Swedish Research Council Formas, 2019-02264Available from: 2022-04-07 Created: 2022-04-07 Last updated: 2022-04-20Bibliographically approved

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Andreasson, HenrikLowry, Stephanie

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