Constraint-following servo control for an underactuated mobile robot under hard constraints.
Duo FuJin HuangWen-Bin ShangguanHui YinPublished in: J. Syst. Control. Eng. (2022)
Keyphrases
- hard constraints
- mobile robot
- soft constraints
- control system
- mechanical systems
- constraint violations
- degrees of freedom
- motion planning
- cost function
- constraint satisfaction problems
- graph cuts
- efficient computation
- receding horizon
- path planning
- constraint satisfaction
- multi criteria
- control loop
- control strategy
- multi objective evolutionary
- search space
- control method
- hard and soft constraints
- control scheme
- penalty function
- fuzzy control
- constraint propagation
- neural network
- objective function
- decision making