A linear optimal tracker designed for omnidirectional vehicle dynamics linearized based on kinematic equations.
Kuo-Yang TuPublished in: Robotica (2010)
Keyphrases
- kinematic model
- closed form solutions
- linear systems
- real time
- semi infinite programming
- closed form
- piecewise linear
- mechanical systems
- optimal linear
- motion planning
- vision system
- omnidirectional camera
- dynamical systems
- vehicle detection
- inverse kinematics
- physical constraints
- worst case
- pedestrian detection
- nonlinear optimization
- numerical solution
- kalman filter
- dynamic model