Obstacle Avoidance in Dynamic Environments via Tunnel-Following MPC with Adaptive Guiding Vector Fields.
Albin DahlinYiannis KarayiannidisPublished in: CDC (2023)
Keyphrases
- dynamic environments
- obstacle avoidance
- vector field
- mobile robot
- path planning
- trajectory planning
- potential field
- adaptive control
- autonomous vehicles
- optical flow
- velocity field
- unknown environments
- autonomous agents
- visual navigation
- collision avoidance
- autonomous navigation
- visually guided
- autonomous robots
- multi robot
- real environment
- motion field
- optimal path
- changing environment
- motion planning
- path finding
- dynamic model
- simultaneous localization and mapping
- gradient field
- gradient vector flow
- differential operators
- closed loop
- state space