On-Line path planning for an articulated vehicle based on Model Predictive Control

  title={On-Line path planning for an articulated vehicle based on Model Predictive Control},
  author={Thaker Nayl and George Nikolakopoulos and Thomas Gustafsson},
  journal={2013 IEEE International Conference on Control Applications (CCA)},
In this article, a novel on-line path planning algorithm for an articulated vehicle, moving in a partially known and sensory based reconstructed environment, and relying on Model Predictive Control will be presented. The proposed algorithm belongs to the family of bug like path planning algorithms and has the capability to take under consideration the real dynamics of the articulated vehicle. Based on: a) an a priori knowledge of the current and the goal points, and b) a partial sensory based… CONTINUE READING


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