Unconstrained Model Predictive Control for Robot Navigation under Uncertainty
Senthil Hariharan Arul,Jong Jin Park,Vishnu Prem,Yang Zhang,Dinesh Manocha,Senthil Hariharan Arul,Jong Jin Park,Vishnu Prem,Yang Zhang,Dinesh Manocha
In this paper, we present a probabilistic and unconstrained model predictive control formulation for robot navigation under uncertainty. We present (1) a closed-form approximation of the probability of collision that naturally models the propagation of uncertainty over the planning horizon and is computationally cheap to evaluate, and (2) a collision-cost formulation which provably preserves forwa...
