Lecture 12, April 1, 2020: Coverage Path Planning by Dr Tiwari; Outdoor Motion Planning and Control by Visala

Coverage Path Planning
Wide Area Coverage!!

By Dr. Kshitij Tiwari

Overview
Motivation
Intuition
Coverage Path Planning (CPP)

  • Travelling Salesman
  • Lawnmower
  • Piano Mover
  • Art Gallery
  • Watchman Route
  • Orienteering
  • Random Exploration
  • Frontier-based Exploration
  • Adaptive Voronoi Exploration

Challenges
Summary
Readings

Outdoor Motion Planning and Control
Predictive Modeling

– Braking
– Turning
– Vehicle Rollover
– Wheel Slip and Yaw Stability

Control of mobile robot
1. Robot Trajectory Following
2. Perception Based Control
3. Steering Trajectory Generation
4. Optimal and Model Predictive Control

Nonlinear Model Predictive Control (NMPC)  in Semiautonomous Systems at Aalto
Example: Autonomous driving of Tractor and Implement

5. Intelligent Control