IROS 2017poster21 citations
Occupancy grid based distributed MPC for mobile robots
Mohamed W. Mehrez, Tobias Sprodowski, Karl Worthmann, George K.I. Mann, Raymond G. Gosine, Juliana K. Sagawa, Jürgen Pannek
Abstract
In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to project the predicted state trajectory onto a grid resulting in an occupancy grid prediction. This approach has the advantage of utilizing continuous optimization methods while only quantized information is exchanged. We consider non-holonomic mobile robots to numerically and experimentally investigate the proposed method.
BibTeX
@inproceedings{iros2017_occupancygridbas,
title = {Occupancy grid based distributed MPC for mobile robots},
author = {Mohamed W. Mehrez and Tobias Sprodowski and Karl Worthmann and George K.I. Mann and Raymond G. Gosine and Juliana K. Sagawa and Jürgen Pannek},
booktitle = {IROS 2017},
year = {2017}
}