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arXiv · 1805.08089

VPH+ and MPC Combined Collision Avoidance for Unmanned Ground Vehicle in Unknown Environment

Kai Liu·Jianwei Gong·Huiyan Chen
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Abstract

There are many situations for which an unmanned ground vehicle has to work with only partial observability of the environment. Therefore, a feasible nonholonomic obstacle avoidance and target tracking action must be generated immediately based on the real-time perceptual information. This paper presents a robust approach to integrating VPH+ (enhanced vector polar histogram) and MPC (model predictive control). VPH+ is applied to calculate the desired direction for its environment perception ability and computational efficiency, while MPC is explored to perform a constrained model-predictive trajectory generation. This approach can be implemented in a reactive controller. Simulation experiments are performed in VREP to validate the proposed approach.

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Kai Liu, Jianwei Gong, Huiyan Chen. 2018-05-21. VPH+ and MPC Combined Collision Avoidance for Unmanned Ground Vehicle in Unknown Environment. https://arxiv.org/abs/1805.08089

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