Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function is added to the optimization’s cost function, leading to collision avoidance behavior without increasing the problem’s computational complexity. Our holistic ap...