Integration of Motion Planning and Control for High-Performance Automated Vehicles Using Tube-Based Nonlinear MPC.
Yilin MiKe ShaoYu LiuXueqian WangFeng XuPublished in: IEEE Trans. Intell. Veh. (2024)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- path planning
- mpc algorithm
- autonomous vehicles
- robot arm
- mobile robot
- trajectory planning
- obstacle avoidance
- humanoid robot
- control system
- model predictive control
- optimal control
- linear quadratic
- autonomous mobile robot
- robotic tasks
- real time
- unmanned aerial vehicles
- control method
- end effector
- multi robot
- control law
- robotic systems
- kinematic model
- control strategy
- climbing robot
- collision free
- adaptive control
- predictive control
- potential field
- visual servoing
- dynamic model
- video sequences