The obstacle avoidance motion planning problem for autonomous vehicles: A low-demanding receding horizon control scheme

@article{Franz2015TheOA,
  title={The obstacle avoidance motion planning problem for autonomous vehicles: A low-demanding receding horizon control scheme},
  author={Giuseppe Franz{\`e} and Walter Lucia},
  journal={Systems & Control Letters},
  year={2015},
  volume={77},
  pages={1-10}
}
The paper addresses the obstacle avoidance motion planning problem for ground vehicles operating in uncertain environments. By resorting to set-theoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints and disturbance effects. Sequences of inner ellipsoidal approximations of the exact one-step controllable sets are pre-computed for all the possible obstacle scenarios and then on-line… CONTINUE READING
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Gokasan, “A novel obstacle avoidance algorithm: Follow the Gap Method

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