A Dual Forward–Backward Algorithm to Solve Convex Model Predictive Control for Obstacle Avoidance in a Logistics Scenario-Reference-Cited by-同舟云学术

A Dual Forward–Backward Algorithm to Solve Convex Model Predictive Control for Obstacle Avoidance in a Logistics Scenario

Published:2023-01-26 Issue:3 Volume:12 Page:622
ISSN:2079-9292
Container-title:Electronics
language:en
Short-container-title:Electronics

Author:

Ludovico Daniele¹^ORCID,Guardiani Paolo¹^ORCID,Pistone Alessandro¹^ORCID,De Mari Casareto Dal Verme Lorenzo¹²^ORCID,Caldwell Darwin G.¹^ORCID,Canali Carlo¹^ORCID

Affiliation:

1. Istituto Italiano di Tecnologia, ADVR Advanced Robotics, 16163 Genoa, Italy

2. Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi, Scuola Politecnica, Università Degli Studi Di Genova, 16145 Genoa, Italy

Abstract

In recent years, the logistics sector expanded significantly, leading to the birth of smart warehouses. In this context, a key role is represented by autonomous mobile robots, whose main challenge is to find collision-free paths in their working environment in real-time. Model Predictive Control Algorithms combined with global path planners, such as the A* algorithm, show great potential in providing efficient navigation for collision avoidance problems. This paper proposes a Dual Forward–Backward Algorithm to find the solution to a Model Predictive Control problem in which the task of driving a mobile robotic platform into a bi-dimensional semi-structured environment is formulated in a convex optimisation framework.

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering

Link

https://www.mdpi.com/2079-9292/12/3/622/pdf

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