Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots

Wei Luo, Peter Eberhard

2021

Abstract

In this paper, an optimization-based trajectory prediction enhanced with goal evaluation for omnidirectional mobile robots is proposed. The proposed approach tries to predict the mobile platform’s trajectory based on its previous positions. A two-stage strategy is introduced. At the first stage, the likely goal of the robot in the scenario is evaluated based on an improved Bayesian framework, which also predicts the possible waypoints in a discrete roadmap based on Monte-Carlo sampling in the future. Then, based on the predicted waypoints, an optimization problem is formulated based on the complementary progress constraints, the system dynamics, and the model constraints. After solving the proposed optimization problem, a more reasonable predicted trajectory can be generated. At the end, an experimental scenario is set up, and it is verified with the experimental data, whether the trajectories can be predicted well.

Paper Citation

in Harvard Style

Luo W. and Eberhard P. (2021). Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 263-273. DOI: 10.5220/0010551802630273

in Bibtex Style

@conference{icinco21,
author={Wei Luo and Peter Eberhard},
title={Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={263-273},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010551802630273},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots
SN - 978-989-758-522-7
AU - Luo W.
AU - Eberhard P.
PY - 2021
SP - 263
EP - 273
DO - 10.5220/0010551802630273