Path-tracking for ground vehicles with bounded steering angle and steering rate - Optimal control approach.
Vladimir PolotskiJurek Z. SasiadekPublished in: ACC (2012)
Keyphrases
- optimal control
- wheeled mobile robots
- control strategy
- control problems
- feedback control
- risk sensitive
- dynamic programming
- infinite horizon
- brownian motion
- real time
- optimal control problems
- control law
- class of nonlinear systems
- reinforcement learning
- object tracking
- particle filter
- lyapunov function
- shortest path
- tracking error
- stochastic control