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RHC for Vision-Based Navigation of a WMR in an Urban Environment
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BibTeX
@MISC{Watkins_rhcfor,
author = {Adam S. Watkins and Richard Prazenica and Andrew Kurdila and Gloria Wiens},
title = {RHC for Vision-Based Navigation of a WMR in an Urban Environment},
year = {}
}
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Abstract
This paper presents a control strategy for the navigation of an autonomous vehicle through an unknown environment with a focus on real-time implementation. The task at hand is to navigate from an initial position to a predetermined goal through an unknown environment using vision as the primary sensor. To solve this problem online the system must incorporate several component technologies: estimation of the environment, dynamic path planning, and a control strategy which incorporates this information into real-time implementation. In this paper, the obstacle estimation task is performed using a combination of Structure-From-Motion (SFM) fused with inertial measurements to provide 3D information from an onboard camera and an adaptive multiresolution-based learning algorithm to estimate the environment from 3D feature points. The learned obstacle map is used as a constraint in a Receding Horizon Control (RHC) path planner which calculates dynamically feasible and locally optimal trajectories. The feasibility of the real-time implementation of this system for vehicle navigation is investigated using a Wheeled Mobile Robot (WMR) testbed with a future goal of implementation on a Micro Air Vehicle (MAV). MAV = micro-air-vehicle MGV = micro-ground-vehicle RHC = receding horizon control WMR = wheeled mobile robot T Nomenclature
Keyphrases
vision-based navigation real-time implementation urban environment control strategy unknown environment future goal dynamic path planning onboard camera micro-air-vehicle mgv micro-ground-vehicle rhc autonomous vehicle mobile robot nomenclature vehicle navigation primary sensor several component technology initial position obstacle estimation task mobile robot feature point inertial measurement learned obstacle map horizon control wmr path planner micro air vehicle optimal trajectory predetermined goal receding horizon control
