LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control

Unmanned Ground Vehicles (UGVs) have, as of late, been utilized in a wide assortment of utilizations because of their flexibility, diminished expense, and quick response, among other benefits. Search and Rescue (SAR) is quite possibly the most conspicuous zones for the work of UGVs instead of a monitored mission, mainly due to its impediments on the expenses, human resources, and view of the human administrators. An ongoing way of arranging to utilize numerous helpful UGVs for the SAR mission is proposed in this study. This study aims to introduce the initial moves towards a Model Predictive Control (MPC) based peril evasion calculation for UGVs representing the vehicle elements through high constancy models and uses just surrounding data about the environment as given by the available onboard sensors. In particular, the paper presents the MPC definition for peril evasion utilizing a Light Detection and Ranging (LiDAR) sensor and applies it to a contextual of the effect of model constancy on the calculatio...