A double-layered nonlinear model predictive control based control algorithm for local trajectory planning for automated trucks under uncertain road adhesion coefficient conditions.
Hong-chao WangWeiwei ZhangXuncheng WuHaotian CaoQiaoming GaoSuyun LuoPublished in: Frontiers Inf. Technol. Electron. Eng. (2020)
Keyphrases
- control algorithm
- trajectory planning
- motion planning
- control method
- obstacle avoidance
- control system
- robot manipulators
- control law
- control strategy
- path planning
- fuzzy logic controller
- dynamic environments
- sufficient conditions
- fuzzy controller
- decision making
- mobile robot
- neural network
- nonlinear model predictive control
- situational awareness
- computer vision