Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver.
Zejiang WangAhmad AhmadRien QuirynenYebin WangAkshay BhagatEyad ZeinoYuji ZushiStefano Di CairanoPublished in: CCTA (2022)
Keyphrases
- motion planning
- model predictive control
- predictive control
- control system
- degrees of freedom
- trajectory planning
- mobile robot
- control law
- robot arm
- path planning
- closed loop
- humanoid robot
- robotic arm
- robotic tasks
- inverse kinematics
- obstacle avoidance
- control scheme
- multi robot
- configuration space
- fuzzy control
- autonomous mobile robot
- mechanical systems
- collision free
- expert systems
- control strategy
- climbing robot
- collision avoidance