In this paper, we revisit model predictive control (MPC) for the classical wheeled mobile robot (WMR) navigation problem. We prove that the reachable set based hierarchical MPC (HMPC), a state-of-the-art MPC, cannot handle WMR navigation in theory due to the non-existence of non-trivial linear system with an under-approximate reachable set of WMR. Nevertheless, we propose a virtual linear leader guided MPC (VLL-MPC) to enable HMPC structure. Different from current HMPCs, we use a virtual linear system with an under-approximate path set rather than the traditional trace set to guide the WMR. We provide a valid construction of the virtual linear leader. We prove the stability of VLL-MPC, and discuss its complexity. In the experiment, we demonstrate the advantage of VLL-MPC empirically by comparing it with NMPC, LMPC and anytime RRT* in several scenarios.
|Publication status||Accepted/In press - 2020|
|Event||2020 International Conference on Robotics and Automation - Palais des Congrès de Paris, Paris, France|
Duration: 31 May 2020 → 4 Jun 2020
|Conference||2020 International Conference on Robotics and Automation|
|Abbreviated title||ICRA 2020|
|Period||31/05/20 → 4/06/20|
Huang, C., Chen, X., Tang, E., He, M., Bu, L., Qin, S., & Zeng, Y. (Accepted/In press). Navigating Discrete Difference Equation Governed WMR by Virtual Linear Leader Guided HMPC. Paper presented at 2020 International Conference on Robotics and Automation, Paris, France.