{"id":"https://openalex.org/W3137344536","doi":"https://doi.org/10.1109/case49439.2021.9551644","title":"Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control","display_name":"Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3137344536","doi":"https://doi.org/10.1109/case49439.2021.9551644","mag":"3137344536"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551644","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.chalmers.se/publication/526681/file/526681_Fulltext.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009428183","display_name":"Jonas Berlin","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas Berlin","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102779835","display_name":"Georg Hess","orcid":"https://orcid.org/0000-0002-6973-5203"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Georg Hess","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006706429","display_name":"Anton Karlsson","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anton Karlsson","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053797102","display_name":"William Ljungbergh","orcid":"https://orcid.org/0000-0002-0194-6346"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"William Ljungbergh","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116294216","display_name":"Ze Zhang","orcid":"https://orcid.org/0009-0009-7762-8545"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ze Zhang","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108805135","display_name":"Knut \u00c5kesson","orcid":"https://orcid.org/0000-0001-6105-2726"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Knut Akesson","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063362470","display_name":"Per-Lage G\u00f6tvall","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135257","display_name":"Volvo (United States)","ror":"https://ror.org/03e7zen21","country_code":"US","type":"company","lineage":["https://openalex.org/I1340210623","https://openalex.org/I4210135257"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Per-Lage Gotvall","raw_affiliation_strings":["AB Volvo per-lage"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AB Volvo per-lage","institution_ids":["https://openalex.org/I4210135257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"942","last_page":"947"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7680422067642212},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.677234947681427},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6632709503173828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6400388479232788},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5718063116073608},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.571724534034729},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5414292216300964},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5376554727554321},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5107414722442627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5004868507385254},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.419047474861145},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.411590039730072},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3785596191883087},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21676477789878845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1871429681777954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14742505550384521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14579635858535767}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7680422067642212},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.677234947681427},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6632709503173828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6400388479232788},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5718063116073608},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.571724534034729},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5414292216300964},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5376554727554321},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5107414722442627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004868507385254},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.419047474861145},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.411590039730072},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3785596191883087},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21676477789878845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1871429681777954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14742505550384521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14579635858535767},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49439.2021.9551644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551644","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:526681","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/526681","pdf_url":"https://research.chalmers.se/publication/526681/file/526681_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":{"id":"pmh:oai:research.chalmers.se:526681","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/526681","pdf_url":"https://research.chalmers.se/publication/526681/file/526681_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3137344536.pdf","grobid_xml":"https://content.openalex.org/works/W3137344536.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W198732646","https://openalex.org/W1993450261","https://openalex.org/W2000359213","https://openalex.org/W2152475379","https://openalex.org/W2163178194","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2950312551","https://openalex.org/W2963011664","https://openalex.org/W2963888662"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"This":[0,46],"paper":[1],"presents":[2],"an":[3,15],"approach":[4],"to":[5,35,42,54,87],"collision-free,":[6],"long-range":[7,25],"trajectory":[8,56,83],"generation":[9],"for":[10,115],"a":[11,27,37,51,81,138],"mobile":[12],"robot":[13,69],"in":[14,60,125,137],"industrial":[16],"environment":[17],"with":[18,31,40,67],"static":[19,44],"and":[20,71,128],"dynamic":[21,63],"obstacles.":[22,45],"For":[23],"the":[24,43,55,68,88,93,107],"planning":[26,57],"visibility":[28],"graph":[29],"together":[30],"A*":[32],"is":[33,48,102],"used":[34,49],"find":[36],"collision-free":[38,82],"path":[39,47,53,90],"respect":[41],"as":[50],"reference":[52],"algorithm":[58,120],"that":[59],"addition":[61],"handles":[62],"obstacles":[64],"while":[65],"complying":[66],"dynamics":[70],"constraints.":[72,98],"A":[73],"Nonlinear":[74],"Model":[75],"Predictive":[76],"Control":[77,117],"(NMPC)":[78],"solver":[79],"generates":[80],"by":[84,105,123],"staying":[85],"close":[86],"initial":[89],"but":[91],"at":[92],"same":[94],"time":[95,140],"obeying":[96],"all":[97],"The":[99,119],"NMPC":[100],"problem":[101],"solved":[103],"efficiently":[104],"leveraging":[106],"new":[108],"numerical":[109],"optimization":[110],"method":[111],"Proximal":[112],"Averaged":[113],"Newton":[114],"Optimal":[116],"(PANOC).":[118],"was":[121],"evaluated":[122],"simulation":[124],"various":[126],"environments":[127],"successfully":[129],"generated":[130],"feasible":[131],"trajectories":[132],"spanning":[133],"hundreds":[134],"of":[135],"meters":[136],"tractable":[139],"frame.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}