A mixed-integer MPC with polyhedral potential field cost for obstacle avoidance.
Florin StoicanTheodor-Gabriel NicuIonela ProdanPublished in: ACC (2022)
Keyphrases
- potential field
- obstacle avoidance
- mixed integer
- convex hull
- mobile robot
- path planning
- linear program
- feasible solution
- dynamic environments
- lot sizing
- biologically inspired
- motion planning
- continuous variables
- unknown environments
- optimal solution
- multi robot
- collision avoidance
- force field
- closed loop
- linear programming
- dynamic programming
- evolutionary algorithm
- neural network