2019/05/16 by Alexandros Nikou, Nikou, Alexandros, Shahab Heshmati-Alamdari +3
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #Formal Methods in Verification #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1905.06843
openalex publication_date 2019/05/16 · openalex created_date 2022/07/23 · openalex updated_date 2026/07/28
This paper deals with the design and experimental validation of a\nstate-of-the art tube-based Model Predictive Control (MPC) for achieving\ntime-constrained tasks. Given the uncertain nonlinear dynamics of the robot as\nwell as a high-level task written in Metric Interval Temporal Logic (MITL), the\ngoal is to design a feedback control law that guarantees the satisfaction of\nthe task. The workspace is divided into Regions of Interest (RoI) and contains\nalso unsafe regions (obstacles) that the robot should not visit. The feedback\ncontrol law consists of two terms: a control input which is the outcome of a\nFinite Horizon Optimal Control (FHOCP); and a state feedback law that\nguarantees that the nominal trajectories are bounded within a tube centered\nalong the nominal trajectories. The aforementioned control law guarantees that\nthe robot is safely navigated through the RoI within certain time bounds. The\nproposed framework can handle the rich expressiveness of MITL and is\nexperimentally tested with a Nexus mobile robot in our lab facilities. The\nexperimental results show that the proposed framework is promising for solving\nreal-life robotic as well as industrial problems.\n