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Fast nonlinear model predictive planner and control for an unmanned ground vehicle in the presence of disturbances and dynamic obstacles
This paper presents a solution for the tracking control problem, for an unmanned ground vehicle (UGV), under the presence of skid-slip and external disturbances in an environment with static and moving obstacles. To achieve the proposed task, we have used a path-planner which is based on fast nonlin...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Nature Publishing Group UK
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9287565/ https://www.ncbi.nlm.nih.gov/pubmed/35840776 http://dx.doi.org/10.1038/s41598-022-16226-y |