An AUV Path Planning Algorithm Based on Model Predictive Control and Obstacle Restraint.
Zhaoyang LiuDaqi ZhuMingzhong YanPublished in: ICIRA (4) (2021)
Keyphrases
- path planning algorithm
- model predictive control
- path planning
- mobile robot
- autonomous underwater vehicles
- control system
- predictive control
- autonomous underwater vehicle
- collision avoidance
- multi robot
- dynamic environments
- motion planning
- optimal path
- indoor environments
- autonomous navigation
- multiple robots
- autonomous robots
- robotic systems
- control scheme
- degrees of freedom
- simultaneous localization and mapping
- mpc algorithm
- dynamic programming