Improving the Feasibility of DS-based Collision Avoidance Using Non-Linear Model Predictive Control
Saverio Farsoni,Alessio Sozzi,Marco Minelli,Cristian Secchi,Marcello Bonfé,Saverio Farsoni,Alessio Sozzi,Marco Minelli,Cristian Secchi,Marcello Bonfé
In this paper we present a novel strategy for reactive collision-free feasible motion planning for robotic manipulators operating inside an environment populated by moving obstacles. The proposed strategy embeds the Dynamical System (DS) based obstacle avoidance algorithm into a constrained non-linear optimization problem following the Model Predictive Control (MPC) approach. The solution of the p...
