1 - 5 of 5 Chapters
[The popularity of the research on unmanned ground vehicles has increased recently due to a variety of operations and environments. Planetary explorations, search and rescue missions in hazard areas, surveillance, humanitarian de-mining, as well as agriculture applications such as pruning vine...
[In this chapter, a rather straightforward procedure is presented to obtain navigation algorithms for a broad class of vehicle models, based on an adapted version of the passivity-based nonlinear MPC examined in . The proposed PB/MPC approach for navigation planning can be seen as a...
[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...
[This chapter gives an analysis of the worst possible case which the vehicle might experience during the task execution on rough terrains while using the PB/MPC motion planner. Additionally, we present a possible real-time implementation of an MPC-like motion planner using algorithms developed...
[The presented PB/MPC motion planning approach is based both on the energy-shaping technique using a navigation function obtained from the terrain configuration and on the passivity-based MPC concept. The planner can be seen as a generalized DWA planning technique. The PB/MPC algorithm is a...
Read and print from thousands of top scholarly journals.
Continue with Facebook
Log in with Microsoft
Already have an account? Log in
Bookmark this article. You can see your Bookmarks on your DeepDyve Library.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Sign Up Log In
To subscribe to email alerts, please log in first, or sign up for a DeepDyve account if you don’t already have one.
To get new article updates from a journal on your personalized homepage, please log in first, or sign up for a DeepDyve account if you don’t already have one.