Overtaking decision and trajectory planning in highway via hierarchical architecture of conditional state machine and chance constrained model predictive control.
Seungmin JeonKibeom LeeDongsuk KumPublished in: Robotics Auton. Syst. (2022)
Keyphrases
- state machine
- hierarchical architecture
- trajectory planning
- chance constrained
- model predictive control
- stochastic programming
- motion planning
- control system
- predictive control
- robust optimization
- robot manipulators
- obstacle avoidance
- fault tolerant
- path planning
- dynamic environments
- finite state machines
- knapsack problem
- control scheme
- computationally tractable
- decision making
- decision theory
- mobile robot
- neuro fuzzy
- linear program
- decision makers
- multistage
- fuzzy control
- fuzzy controller
- degrees of freedom
- closed loop
- rough sets
- neural network