Real-Time Nonlinear Model Predictive Control of Unmanned Surface Vehicles for Trajectory Tracking and Collision Avoidance.
Yifan XueXingyao WangYanjun LiuGang XuePublished in: ICMRE (2021)
Keyphrases
- collision avoidance
- path planning
- real time
- autonomous vehicles
- trajectory tracking
- ground vehicles
- mobile robot
- obstacle avoidance
- dynamic environments
- closed loop
- dynamic model
- motion planning
- fuzzy neural network
- path finding
- bi directional
- physical constraints
- control law
- computer vision
- multi robot
- iterative learning
- nonlinear model predictive control