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Potential-field constructions in an MPC framework: application for safe navigation in a variable coastal environment

Potential-field constructions in an MPC framework: application for safe navigation in a variable coastal environment

Category
Journal publication
Abstract
This work presents an NMPC (Nonlinear Model Predictive Control)-based algorithm for safe navigation of multi-agent dynamical systems in a variable environment with fixed or moving obstacles. The contribution lies in the construction of repulsive potential fields for the fixed and moving obstacles which are introduced in a predictive control optimization problem to penalize collision. The constraints are activated only in the view range of the agent using on-off barrier functions. Collision-free motion planning of ships in Trondheim fjord harbor serves as a benchmark for testing our algorithm. Some scenarios are simulated in order to prove the efficiency of the algorithm and its feasibility to run in real-time.
Client
  • Norges forskningsråd / 269557
Language
English
Author(s)
Affiliation
  • Université Grenoble Alpes
  • SINTEF Digital / Mathematics and Cybernetics
Year
2018
Published in
IFAC-PapersOnLine
ISSN
2405-8963
Volume
51
Issue
20
Page(s)
307 - 312