F. Stoican, Grotli, E., Prodan, I., and Oara, C., “
On corner cutting in multi-obstacle avoidance problems”, in
5th IFAC Conference on Nonlinear Model Predictive Control, Seville, Spain, 2015.
AbstractOne challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the dynamics. This paper improves upon state of the art by describing a multi-obstacle environment via a hyperplane arrangement, provides a piecewise description of the forbidden regions and represents them into a combined mixed integer and predictive control formulation. Furthermore, over-approximation constraints which reduce to strictly binary conditions are discussed in detail. Illustrative proofs of concept, comparisons
with the state of the art and simulation results over a classical multi-obstacle avoidance problem validate the bene ts of the proposed approach.
F. Stoican, Oara, C., and Hovd, M., “
RPI approximations of the mRPI set characterizing linear dynamics with zonotopic disturbances”, in
Developments in Model-Based Optimization and Control, vol. 464, Springer, 2015, p. 361-377.
