Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function.
Zetao LuKaijun FengJun XuHaoyao ChenYunjiang LouPublished in: CoRR (2024)
Keyphrases
- dynamic environments
- model predictive control
- mobile robot
- collision free
- predictive control
- control system
- path planning
- motion planning
- changing environment
- potential field
- real environment
- autonomous navigation
- belief space
- autonomous systems
- autonomous robots
- robot control
- adaptive control
- plan execution
- sensory information
- robotic arm
- autonomous agents
- robot teams
- robotic systems
- agent systems
- single agent
- control policy
- simultaneous localization and mapping
- path planner
- control scheme
- obstacle avoidance
- vision system
- collision avoidance
- fuzzy logic
- multi robot
- neuro fuzzy
- control strategy
- highly dynamic environments
- action selection
- planning problems
- fuzzy rules
- robot soccer
- control algorithm
- mobile robotics
- planning domains
- linear model
- reinforcement learning agents
- mpc algorithm
- neural network