GeoPro-VO: 速度障害物に基づく幾何学的投影による動的障害物回避
GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle
速度障害物（VO）の速度錐集合の投影特性を利用した幾何学的投影法（GeoPro-VO）を提案し、拡張ラグランジュスペクトル射影勾配降下法（ALSPG）と組み合わせて、制約付きMPCの混合整数非線形計画問題を効率的に解くことで、動的障害物回避を高速化した。
著者: Jihao Huang, Xuemin Chi, Jun Zeng, Zhitao Liu, Hongye Su
分類: cs.RO
原文アブストラクト
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical limitations. It is crucial to efficiently solve the optimization problems in practice, yet achieving rapid computations remains a great challenge for optimization-based approaches with nonlinear constraints. In this paper, we propose a geometric projector for dynamic obstacle avoidance based on velocity obstacle (GeoPro-VO) by leveraging the projection feature of the velocity cone set represented by VO. Furthermore, with the proposed GeoPro-VO and the augmented Lagrangian spectral projected gradient descent (ALSPG) algorithm, we transform an initial mixed integer nonlinear programming problem (MINLP) in the form of constrained model predictive control (MPC) into a sub-optimization problem and solve it efficiently. Numerical simulations are conducted to validate the fast computing speed of our approach and its capability for reliable dynamic obstacle avoidance.
