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 for optimal control problems.
Some Limitations and Real-Time Implementation
SpringerBriefs in Electrical
Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning ; Chapter : 4 ; 41-51
2013-04-19
11 pages
Article/Chapter (Book)
Electronic Resource
English
STOL -- Some possibilities and limitations
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