Obstacle Avoidance Control Based on Nonlinear MPC for All Wheel Driven In-Wheel EV in Steering Failure.
Mizuho AokiKohei HondaHiroyuki OkudaTatsuya SuzukiAkira ItoDaisuke NagasakaPublished in: ITSC (2022)
Keyphrases
- wheeled mobile robots
- obstacle avoidance
- mobile robot
- path planning
- wheel slip
- trajectory planning
- trajectory tracking
- autonomous vehicles
- closed loop
- space exploration
- mpc algorithm
- electric vehicles
- visual navigation
- visually guided
- motion planning
- optimal control
- linear quadratic
- neural network
- potential field
- genetic algorithm