This chapter demonstrates the design procedure of the PB/MPC motion planning framework. The first two examples consider the vehicle models that might be used on flat terrains, a unicycle, and a car-like mobile vehicle. The third example covers a rather general model that can be used for rough terrains.
Examples
SpringerBriefs in Electrical
Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning ; Chapter : 3 ; 25-40
2013-04-19
16 pages
Article/Chapter (Book)
Electronic Resource
English
Springer Verlag | 2018
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