LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty

@article{Berg2012LQGobstaclesFC,
  title={LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty},
  author={Jur P. van den Berg and David Wilkie and Stephen J. Guy and Marc Niethammer and Dinesh Manocha},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={346-353}
}
This paper presents LQG-Obstacles, a new concept that combines linear-quadratic feedback control of mobile robots with guaranteed avoidance of collisions with obstacles. Our approach generalizes the concept of Velocity Obstacles [3] to any robotic system with a linear Gaussian dynamics model. We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the “control input”. We then define the LQG… CONTINUE READING
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