Advanced Visual Predictive Control Scheme For The Navigation Problem
Résumé
This work proposes a Visual Predictive Control (VPC) scheme adapted to the autonomous navigation problem among static obstacles. To do so, it is necessary to cope with several issues which by now limit the use of VPC in this context. Among them, we focus on the following ones: the need for precise prediction models to improve the task realization; the need for a long prediction horizon which is required to perform long-range displacements and guarantee stability, but also results in a high computational burden and a more difficult implementation; the possible optimization problem evolution at every iteration due to unexpected events (e.g., detection of new obstacles), which leads to non-convex problems and therefore makes difficult its resolution.
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