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    NMPC for Collision Avoidance by Superellipsoid Separation1

    Source: ASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 004::page 41005-1
    Author:
    Moran, Ruairi
    ,
    Bagley, Sheila
    ,
    Kasmann, Seth
    ,
    Martin, Rob
    ,
    Pasley, David
    ,
    Trimble, Shane
    ,
    Dianics, James
    ,
    Sopasakis, Pantelis
    DOI: 10.1115/1.4066388
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper introduces a novel nonlinear model predictive controller (NMPC) formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination of this approach with the separating hyperplane theorem and optimization engine (OpEn) allows to achieve efficient obstacle avoidance in autonomous heavy equipment and robotics. We demonstrate the efficacy of the approach through simulated and experimental results, showcasing a skid-steer loader’s capability to navigate in obstructed environments.
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      NMPC for Collision Avoidance by Superellipsoid Separation1

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4306367
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    contributor authorMoran, Ruairi
    contributor authorBagley, Sheila
    contributor authorKasmann, Seth
    contributor authorMartin, Rob
    contributor authorPasley, David
    contributor authorTrimble, Shane
    contributor authorDianics, James
    contributor authorSopasakis, Pantelis
    date accessioned2025-04-21T10:31:21Z
    date available2025-04-21T10:31:21Z
    date copyright10/3/2024 12:00:00 AM
    date issued2024
    identifier issn2689-6117
    identifier otheraldsc_4_4_041005.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4306367
    description abstractThis paper introduces a novel nonlinear model predictive controller (NMPC) formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination of this approach with the separating hyperplane theorem and optimization engine (OpEn) allows to achieve efficient obstacle avoidance in autonomous heavy equipment and robotics. We demonstrate the efficacy of the approach through simulated and experimental results, showcasing a skid-steer loader’s capability to navigate in obstructed environments.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleNMPC for Collision Avoidance by Superellipsoid Separation1
    typeJournal Paper
    journal volume4
    journal issue4
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4066388
    journal fristpage41005-1
    journal lastpage41005-7
    page7
    treeASME Letters in Dynamic Systems and Control:;2024:;volume( 004 ):;issue: 004
    contenttypeFulltext
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