MPC-based path planning for ship collision avoidance under COLREGS.
Mingda ZhuRobert SkulstadLuman ZhaoHouxiang ZhangGuoyuan LiPublished in: SMC (2022)
Keyphrases
- collision avoidance
- path planning
- mobile robot
- path planning algorithm
- dynamic environments
- obstacle avoidance
- path finding
- optimal path
- closed loop
- path planner
- multiple robots
- multi robot
- motion planning
- potential field
- aerial vehicles
- degrees of freedom
- collision free
- dynamic and uncertain environments
- configuration space
- robot path planning
- pose estimation
- indoor environments