Moving Obstacle Collision Avoidance via Chance-Constrained MPC with CBF.
Ming LiZhiyong SunZirui LiaoSiep WeilandPublished in: CoRR (2023)
Keyphrases
- collision avoidance
- chance constrained
- mobile robot
- stochastic programming
- path planning
- robust optimization
- knapsack problem
- dynamic environments
- chance constrained programming
- chance constraints
- computationally tractable
- reverse logistics
- linear program
- dynamic model
- closed loop
- fuzzy neural network
- real time
- multistage
- genetic algorithm
- multi robot
- motion planning
- path finding
- mathematical programming
- network design
- shortest path
- linear programming
- search algorithm
- learning algorithm
- neural network