POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS

Suat Karakaya; Gürkan Küçükyıldız; Hasan Ocak

POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS

Abstract

This paper presents a point stabilization method which is a hybrid form of Exact Euclidian Distance Transform (EEDT) and Model Predictive Control (MPC) theory. An optimal control problem is evaluated using a wheeled mobile robot’s mathematical model. The model is represented in polar coordinates considering non-holonomic constraints. The optimal input parameters are obtained by solving a sequential quadratic cost function. The EEDT algorithm provides via-points starting from the initial position to the desired final coordinates. The line segments connected by these points form the shortest obstacle free static trajectory. Assuming that all of the occupied regions in the map are fully known, states of the mobile robot are constrained by avoiding the intersection of the obstacles and the planned path. Point stabilization phase is performed in a partial manner by applying MPC algorithm on consecutive via points. The overall stabilized trajectory between the start and goal is obtained by connecting the stabilized sub-trajectories. This approach provides a way to stabilize a trajectory without determining convex sub-regions on a non-convex map. The results on a simulated differentially driven mobile robot prove that the proposed algorithm gives satisfactory results for point stabilization problem in presence of static obstacles on a non-convex map.

Keywords

References

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Details

Primary Language

English

Subjects

Engineering

Journal Section

Conference Paper

Authors

Suat Karakaya This is me
0000-0002-3082-0304
Türkiye

Gürkan Küçükyıldız This is me
0000-0003-2744-0666
Türkiye

Hasan Ocak This is me
0000-0002-9917-4398
Türkiye

Publication Date

September 1, 2017

Submission Date

November 23, 2016

Acceptance Date

April 7, 2017

Published in Issue

Year 2017 Volume: 35 Number: 3

IZ

https://izlik.org/JA39LX24CJ

Cite

RIS / Bibtex

APA

Karakaya, S., Küçükyıldız, G., & Ocak, H. (2017). POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS. Sigma Journal of Engineering and Natural Sciences, 35(3), 389-403. https://izlik.org/JA39LX24CJ

AMA

1.Karakaya S, Küçükyıldız G, Ocak H. POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS. SIGMA. 2017;35(3):389-403. https://izlik.org/JA39LX24CJ

Chicago

Karakaya, Suat, Gürkan Küçükyıldız, and Hasan Ocak. 2017. “POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS”. Sigma Journal of Engineering and Natural Sciences 35 (3): 389-403. https://izlik.org/JA39LX24CJ.

EndNote

Karakaya S, Küçükyıldız G, Ocak H (September 1, 2017) POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS. Sigma Journal of Engineering and Natural Sciences 35 3 389–403.

IEEE

[1]S. Karakaya, G. Küçükyıldız, and H. Ocak, “POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS”, SIGMA, vol. 35, no. 3, pp. 389–403, Sept. 2017, [Online]. Available: https://izlik.org/JA39LX24CJ

ISNAD

Karakaya, Suat - Küçükyıldız, Gürkan - Ocak, Hasan. “POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS”. Sigma Journal of Engineering and Natural Sciences 35/3 (September 1, 2017): 389-403. https://izlik.org/JA39LX24CJ.

JAMA

1.Karakaya S, Küçükyıldız G, Ocak H. POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS. SIGMA. 2017;35:389–403.

MLA

Karakaya, Suat, et al. “POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS”. Sigma Journal of Engineering and Natural Sciences, vol. 35, no. 3, Sept. 2017, pp. 389-03, https://izlik.org/JA39LX24CJ.

Vancouver

1.Suat Karakaya, Gürkan Küçükyıldız, Hasan Ocak. POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS. SIGMA [Internet]. 2017 Sep. 1;35(3):389-403. Available from: https://izlik.org/JA39LX24CJ