Mobile Robot Navigation in a Cluttered Environment via Visual Predictive Control

Adrien  Durand-Petiteville; Viviane  Cadenat

doi:10.48011/asba.v2i1.1451

Adrien Durand-Petiteville Universidade Federal de Pernambuco
Viviane Cadenat Univ de Toulouse

DOI: https://doi.org/10.48011/asba.v2i1.1451

Keywords: Mobile Robotics, Navigation, Visual servoing, Model predictive control, Obstacle avoidance

Abstract

This paper presents a Visual Predictive Controller scheme for a differential drive robot navigating in a cluttered environment. We introduce an analytic model predicting the future state for this specific system Moreover, constraints guaranteeing the convergence of the control law, and avoiding occultations and collisions with obstacles are presented. A large set of results obtained in simulations highlights the interest and efficiency of the approach.