Non-linear Model Predictive Control Based Motion Planning Among People

Studenteropgave: Speciale (inkl. HD afgangsprojekt)

  • Martin Bieber Jensen
  • Simon Nanoq Callisen
  • Balazs Reiser
4. semester, Regulering og Automation (cand.polyt.), Kandidat (Kandidatuddannelse)
The scope of this thesis is to develop a non-linear model predictive control (NMPC) based path planning for a non-holonomic mobile robot. The purpose of the planner is to enable the PAL moving base robotic platform to navigate in a dynamic environment considering static and moving obstacles. A non-linear kinematic model is designed for the robot as well as a linear state-space model to represent moving obstacles. These models are implemented in a NMPC to predict robot and obstacle movement. Driving the design of this NPMC is a parallel simulation development of different planning methods, Resulting in a set-point stabilisation NMPC local planner with multiple shooting discretization. In addition, two different polygon shaped obstacle representation method is developed and implemented as constraints to the NMPC design. Finally the planner is implemented on the PAL moving base and compared to a contemporary planner to evaluate performance, through these test results concluding comparable performance is achievable using the NMPC based planner with added moving obstacle functionality.
Udgivelsesdato16 jun. 2020
Antal sider118
ID: 334325914