A Backstepping Approach to Nonlinear Model Predictive Horizon for Optimal Trajectory Planning.
Younes Al YounesMartin BarczykPublished in: Robotics (2022)
Keyphrases
- trajectory planning
- control law
- nonlinear models
- motion planning
- optimal control
- linear model
- path planning
- robot manipulators
- closed loop
- degrees of freedom
- obstacle avoidance
- dynamic environments
- optimal solution
- control algorithm
- regression model
- parameter estimation
- optimal path
- least squares
- mobile robot
- control system
- video sequences