Analysis of future measurement incorporation into unscented predictive motion planning

Authors:
Morteza Farrokhsiar;Homayoun Najjaran
Affiliations:
UBC, Okanagan School of Engineering, University way, Kelowna, Canada;UBC, Okanagan School of Engineering, University way, Kelowna, Canada
Venue:
AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Year:
2011

Citing 6
Cited 0

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Abstract

An analysis of the future measurement incorporation into the unscented predictive motion planning algorithm for nonholonomic systems is presented. A two-wheeled robot is selected as the example nonholonomic system. A predictive motion planning scheme is used to find the suboptimal control inputs. In addition to the nonholonomic constraint, state estimation and collision avoidance chance constraints are incorporated to the predictive scheme. The closed form of the probabilistic constraints is solved by utilizing the unscented transform of the motion model. In order to evaluate the effect of future measurement incorporation into the planning algorithm, two different types of the unscented predictive planner, UPP-1 and UPP-2, are developed. In UPP-2 the future measurement is incorporated to the planning algorithm, whereas in UPP-1 the future measurement is ignored. Numerical simulation results demonstrate a high level of robustness and effectiveness of the both proposed algorithms in the presence of disturbances, measurement noise and chance constraints. Also, simulation results indicate that UPP-1 is a more conservative planner than UPP-2.