A Hybrid Model Predictive Controller for Path Planning and Path Following
|Title||A Hybrid Model Predictive Controller for Path Planning and Path Following|
|Publication Type||Conference Paper|
|Year of Publication||2015|
|Authors||Zhang, K, Sprinkle, J, Sanfelice, RG|
|Conference Name||International Conference on Cyber-Physical Systems (ICCPS)|
|Conference Location||Seattle, WA|
The use of nonlinear model-predictive methods for path planning and following has the advantage of concurrently solving problems of obstacle avoidance, feasible trajectory selection, and trajectory following, while obeying constraints on control inputs and state values.