Dual-Quaternion-Based SLERP MPC Local Controller for Safe Self-Driving of Robotic Wheelchairs.
Daifeng WangWenjing CaoAtsuo TakanishiPublished in: Robotics (2023)
Keyphrases
- closed loop
- robotic manipulator
- control loop
- real time
- dynamic model
- control system
- feedback control
- optimal control
- linear quadratic
- robotic systems
- control scheme
- fourier transform
- control architecture
- driving behavior
- control law
- mobile robot
- pid controller
- robotic arm
- contact force
- manipulation tasks
- adaptive control
- primal dual
- fuzzy controller
- control method
- control strategy
- autonomous driving
- robust stability
- controller design
- color texture segmentation
- dc motor
- car racing
- traffic accidents
- multiple models
- control algorithm
- degrees of freedom
- experimental data
- vision system
- multiresolution
- reinforcement learning