LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty

Jur Van Den Berg; David Wilkie; Stephen J. Guy; Marc Niethammer; Dinesh Manocha

doi:10.1109/ICRA.2012.6224648

LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty

Jur Van Den Berg
, David Wilkie
, Stephen J. Guy
, Marc Niethammer
, Dinesh Manocha

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

79 Scopus citations

Abstract

This paper presents LQG-Obstacles, a new concept that combines linear-quadratic feedback control of mobile robots with guaranteed avoidance of collisions with obstacles. Our approach generalizes the concept of Velocity Obstacles [3] to any robotic system with a linear Gaussian dynamics model. We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the "control input". We then define the LQG-Obstacle as the set of control objectives that result in a collision with high probability. Selecting a control objective outside the LQG-Obstacle then produces collision-free motion. We demonstrate the potential of LQG-Obstacles by safely and smoothly navigating a simulated quadrotor helicopter with complex non-linear dynamics and motion and sensing uncertainty through three-dimensional environments with obstacles and narrow passages.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	346-353
Number of pages	8
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224648
State	Published - Jan 1 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Publisher link

10.1109/ICRA.2012.6224648

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Van Den Berg, J., Wilkie, D., Guy, S. J., Niethammer, M., & Manocha, D. (2012). LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 346-353). Article 6224648 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224648

LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. / Van Den Berg, Jur; Wilkie, David; Guy, Stephen J. et al.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 346-353 6224648 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Van Den Berg, J, Wilkie, D, Guy, SJ, Niethammer, M & Manocha, D 2012, LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224648, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 346-353, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224648

Van Den Berg J, Wilkie D, Guy SJ, Niethammer M, Manocha D. LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 346-353. 6224648. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6224648

Van Den Berg, Jur ; Wilkie, David ; Guy, Stephen J. et al. / LQG-obstacles : Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 346-353 (Proceedings - IEEE International Conference on Robotics and Automation).

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AB - This paper presents LQG-Obstacles, a new concept that combines linear-quadratic feedback control of mobile robots with guaranteed avoidance of collisions with obstacles. Our approach generalizes the concept of Velocity Obstacles [3] to any robotic system with a linear Gaussian dynamics model. We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the "control input". We then define the LQG-Obstacle as the set of control objectives that result in a collision with high probability. Selecting a control objective outside the LQG-Obstacle then produces collision-free motion. We demonstrate the potential of LQG-Obstacles by safely and smoothly navigating a simulated quadrotor helicopter with complex non-linear dynamics and motion and sensing uncertainty through three-dimensional environments with obstacles and narrow passages.

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LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty

Abstract

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UN SDGs

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