A Model Predictive-based Motion Planning Method for Safe and Agile Traversal of Unknown and Occluding Environments
Jacob Higgins,Nicola Bezzo,Jacob Higgins,Nicola Bezzo
Agile navigation through uncertain and obstacle-rich environments remains a challenging task for autonomous mobile robots (AMR). For most AMR, obstacles are identified using onboard sensors, e.g., lidar or cameras. The effectiveness of these sensors may be severely limited, however, by occlusions introduced from the presence of other obstacles. The occluded area may contain obstacles, static or dy...
