Simultaneous Lane-Keeping and Obstacle Avoidance by Combining Model Predictive Control and Control Barrier Functions.
Sven BrüggemannDrew SteevesMiroslav KrsticPublished in: CDC (2022)
Keyphrases
- model predictive control
- obstacle avoidance
- predictive control
- control system
- mobile robot
- autonomous vehicles
- path planning
- trajectory planning
- fuzzy logic controller
- space exploration
- visually guided
- control strategy
- control scheme
- robot control
- real time
- neuro fuzzy
- fuzzy controller
- visual navigation
- mpc algorithm
- motion planning
- fault diagnosis
- multiple models
- autonomous robots
- control method
- input output
- dynamic environments
- expert systems