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Reachability-Aware Collision Avoidance for Tractor-Trailer System with Non-Linear MPC and Control Barrier Function.
Yucheng Tang
Ilshat Mamaev
Jing Qin
Christian Wurll
Björn Hein
Published in:
IROS (2023)
Keyphrases
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collision avoidance
path planning
autonomous vehicles
formation control
visual navigation
mobile robot
dynamic environments
optimal control
robot motion
control system
dynamic model
path finding
neural network
control policy
prediction model
control strategy
fuzzy logic
state space
decision making