Trajectory Tracking and Obstacle Avoidance for Wheeled Mobile Robots Based on EMPC With an Adaptive Prediction Horizon.
Peng LiShizhan WangHongjiu YangHai ZhaoPublished in: IEEE Trans. Cybern. (2022)
Keyphrases
- wheeled mobile robots
- obstacle avoidance
- trajectory tracking
- mobile robot
- visual servoing
- path planning
- closed loop
- bi directional
- iterative learning
- control system
- dynamic model
- physical constraints
- control law
- control method
- motion planning
- sliding mode
- prediction model
- fuzzy logic controller
- robot control
- nonlinear systems
- control scheme
- control theory
- autonomous robots
- image space
- variable structure