Schöneberg, Eric (RPTU University Kaiserslautern-Landau), Schröder, Michael (RPTU University Kaiserslautern-Landau), Görges, Daniel (University of Kaiserslautern), Schotten, Hans (Univ of Kaiserslautern)

Trajectory Planning with Model Predictive Control for Obstacle Avoidance Considering Prediction Uncertainty

Scheduled for presentation during the Regular Session "Advanced Motion Planning and Navigation" (FrBT2), Friday, July 18, 2025, 14:40−15:00, Room 106

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework. The proposed method utilizes Model Predictive Control (MPC) with a focus on handling the uncertainties associated with the movement prediction of dynamic obstacles. Unlike existing Nav2 trajectory planners which primarily deal with static obstacles or react to the current position of dynamic obstacles, this planner predicts future obstacle positions using a stochastic Vector Auto-Regressive Model (VAR). The obstacles’ future positions are represented by probability distributions, and collision avoidance is achieved through constraints based on the Mahalanobis distance, ensuring the robot avoids regions where obstacles are likely to be. This approach considers the robot’s kinodynamic constraints, enabling it to track a reference path while adapting to real-time changes in the environment. The paper details the implementation, including obstacle prediction, tracking, and the construction of feasible sets for MPC. Simulation results in a Gazebo environment demonstrate the effectiveness of this method in scenarios where robots must navigate around each other, showing improved collision avoidance capabilities.