@inproceedings{65606ea9f1ed4aaa8a7ff7afd453833f,
title = "A Collision Avoidance Planning Algorithm in Cluttered Environments with Moving Obstacles",
abstract = "This paper investigates the collision avoidance planning problem for Mecanum-wheeled robot in cluttered environments with moving obstacles. The challenge lies in that the motions of obstacles are not available and hard to be predicted. First, a IMM-based algorithm is developed to obtain motion model and states of moving obstacles. Then, an optimization-based planning algorithm is proposed to achieve collision avoidance in which the planning problem is transformed into an unconstrained optimization problem, which can be solved by g2o-framework. The simulation experiments are performed to show the effectiveness of the proposed planning algorithm.",
keywords = "IMM, Mecanum-Wheeled Robot, NMPC",
author = "Xuan Han and Jianshan Xie and Linao Gong and Fenghua He",
note = "Publisher Copyright: {\textcopyright} 2023 Technical Committee on Control Theory, Chinese Association of Automation.; 42nd Chinese Control Conference, CCC 2023 ; Conference date: 24-07-2023 Through 26-07-2023",
year = "2023",
doi = "10.23919/CCC58697.2023.10240307",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4536--4541",
booktitle = "2023 42nd Chinese Control Conference, CCC 2023",
address = "美国",
}