NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control.
Baha ZarroukiJoão NunesJohannes BetzPublished in: CoRR (2023)
Keyphrases
- nonlinear model predictive control
- motion control
- autonomous vehicles
- image based visual servoing
- visual servoing
- robot control
- mobile robot
- obstacle avoidance
- real time
- vision system
- dynamic model
- path planning
- autonomous robots
- control system
- computationally efficient
- control law
- collision avoidance
- autonomous navigation
- reinforcement learning
- multi robot
- motion planning
- steady state
- camera motion
- fuzzy logic
- three dimensional
- neural network