Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot.
Zhuozhu JianZihong YanXuanang LeiZihong LuBin LanXueqian WangBin LiangPublished in: ICRA (2023)
Keyphrases
- obstacle avoidance
- mobile robot
- model predictive control
- safety critical
- predictive control
- dynamic environments
- path planning
- control system
- autonomous vehicles
- autonomous robots
- robot control
- robotic systems
- control strategy
- motion planning
- fuzzy logic controller
- multi robot
- formal methods
- control scheme
- fault tolerant
- autonomous navigation
- agent architecture
- fuzzy logic
- information systems
- artificial intelligence
- mpc algorithm
- adaptive systems
- real time
- control law
- control method
- neuro fuzzy
- closed loop
- monitoring system
- learning systems
- user interface