Model Predictive collision-free path following control for nonholonomic mobile robots
In this research, a model predictive collision-free path following controller is developed and applied for an omnidirectional mobile robot (OMR). The mobile robot is controlled to track a reference path while avoiding collision with obstacles. The path-following problem is reformulated into the regu...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2023-01-01
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| Series: | FME Transactions |
| Subjects: | |
| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2023/1451-20922302192H.pdf |