Paper Info
Title
A Nonsmooth Newton Method for Linear Model-Predictive Control in Tracking Tasks for a Mobile Robot With Obstacle Avoidance.
Abstract
We investigate tracking tasks for an automatic mobile robot with obstacle avoidance. To this end we apply a linear model-predictive control (LMPC) method to the nonlinear robot model. The LMPC uses a linearized robot model around the reference track and takes into account (fixed or moving) obstacles, which the robot has to avoid. The resulting discretized linear-quadratic optimal control problems ...
Year
DOI
Venue
2020
10.1109/LCSYS.2020.2996959
IEEE Control Systems Letters
Keywords
DocType
Volume
Optimal control,Collision avoidance,Newton method,Mobile robots,Robustness,Kinematics
Journal
4
Issue
ISSN
Citations 
4
2475-1456
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Andreas Britzelmeier100.34
M. Gerdts25811.18