Tube-based Nonlinear MPC of an Over-actuated Marine Platform for Navigation and Obstacle Avoidance using Control Barrier Functions.
Spyridon SyntakasKostas VlachosPublished in: MED (2023)
Keyphrases
- obstacle avoidance
- autonomous vehicles
- mobile robot
- path planning
- trajectory planning
- space exploration
- mpc algorithm
- fuzzy logic controller
- visual navigation
- potential field
- linear quadratic
- robot control
- motion planning
- optimal control
- model predictive control
- unknown environments
- visually guided
- autonomous robots
- control scheme
- control method
- multi robot
- robotic systems
- dynamic model
- control system
- real time
- route selection
- central processor
- robot manipulators
- collision avoidance
- parameter tuning
- pid controller
- indoor environments
- closed loop
- computer vision