@inproceedings{b5d4e24fce6e4e99b1d152f26857b3dd,
title = "LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty",
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.",
author = "{Van Den Berg}, Jur and David Wilkie and Guy, {Stephen J.} and Marc Niethammer and Dinesh Manocha",
year = "2012",
month = jan,
day = "1",
doi = "10.1109/ICRA.2012.6224648",
language = "English (US)",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "346--353",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}
