Reactive Trajectory Tracking for Mobile Robots based on Non Linear Model Predictive Control.
Stavros G. VougioukasPublished in: ICRA (2007)
Keyphrases
- model predictive control
- trajectory tracking
- control system
- mobile robot
- visual servoing
- closed loop
- control law
- predictive control
- path planning
- fuzzy logic
- autonomous robots
- control scheme
- control method
- real time
- motion planning
- multi robot
- bi directional
- robot control
- dynamic environments
- control algorithm
- fuzzy controller
- pid controller
- sliding mode
- dynamic model
- nonlinear systems
- control theory
- fuzzy control
- physical constraints
- robotic systems
- fuzzy sets