Safety-critical model predictive control with control barrier function for dynamic obstacle avoidance.
Nhat Nguyen MinhStephen McIlvannaYuzhu SunYan JinMien VanPublished in: CoRR (2022)
Keyphrases
- model predictive control
- obstacle avoidance
- safety critical
- predictive control
- control system
- mobile robot
- autonomous vehicles
- path planning
- dynamic environments
- formal methods
- control strategy
- fault tolerant
- control scheme
- embedded systems
- mpc algorithm
- control policy
- neuro fuzzy
- multi modal
- fuzzy logic
- control method
- rbf neural network
- motion planning
- neural network
- closed loop
- adaptive systems
- low cost
- decision trees
- information systems