A new motion planning framework based on the Quantized LQR method for autonomous robots

Onur Sencan, Hakan Temeltas

Research output: Contribution to journalArticlepeer-review

Abstract

This study addresses an argument on the disconnection between the computational side of the robot navigation problem with the control problem including concerns on stability. We aim to constitute a framework that includes a novel approach of using quantizers for occupancy grids and vehicle control systems concurrently. This representation allows stability concerned with the navigation structure through input and output quantizers in the framework. We have given the theoretical proofs of qLQR in the sense of Lyapunov stability alongside with the implementation details. The experimental results demonstrate the effectiveness of the qLQR controller and quantizers in the framework with realtime data and offline simulations.

Original languageEnglish
Pages (from-to)362-374
Number of pages13
JournalInternational Journal of Advanced Computer Science and Applications
Volume9
Issue number1
DOIs
Publication statusPublished - 2018

Bibliographical note

Publisher Copyright:
© 2015 The Science and Information (SAI) Organization Limited.

Keywords

  • Hybrid systems
  • Mobile robotics
  • Optimal control
  • Quantization
  • Robot motion

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