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General Framework for Mobile Robot Navigation Using Passivity-Based MPC

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2 Author(s)
Adnan Tahirovic ; Dipartimento di Elettronica e Informazione, Politecnico di Milano, Italy ; Gianantonio Magnani

This technical note proposes a novel navigation planner for mobile robots based on an adapted version of passivity-based nonlinear model predictive control. The proposed framework extends the convergent dynamic window approach and can be considered a generalized navigation planning technique able to include the high complex models required to describe the dynamics of vehicles moving outdoor on rough terrains. Several case studies are discussed to illustrate the usage of the framework.

Published in:

IEEE Transactions on Automatic Control  (Volume:56 ,  Issue: 1 )