Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation
Today robotics has shown many successful strategies to solve several navigation problems. However, moving into a dynamic environment is still a challenging task. This paper presents a novel method for motion generation in dynamic environments based on real-time nonlinear model predictive control (NMPC). At the core of our approach is a least conservative linearized constraint formulation built upon the real-time iteration (RTI) scheme with Gauss- Newton Hessian approximation.