Potential-field constructions in an MPC framework: application for safe navigation in a variable coastal environment
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DOI: 10.1016/j.ifacol.2018.11.049
Abstract: Abstract This work presents an NMPC (Nonlinear Model Predictive Control)-based algorithm for safe navigation of multi-agent dynamical systems in a variable environment with fixed or moving obstacles. The contribution lies in the construction of repulsive… read more here.
Keywords: potential field; field constructions; navigation; constructions mpc ... See more keywords