Robust model predictive control for obstacle avoidance: discrete time case

DOI10.1007/978-3-540-72699-9_52MaRDI QIDQ5198781zbMATH OpenOpenAlexFDO

Authors Saša V. Raković, D. Q. Mayne

Publication date 9 August 2011

Published in Assessment and Future Directions of Nonlinear Model Predictive Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-540-72699-9_52

zbMATH Keywords

discrete time setupmixed integer programmingobstacle avoidance problemreachability setsrobust model predictive schemesrobust optimal control problem

Mathematics Subject Classification ID

Mixed integer programming (90C11) Attainable sets, reachability (93B03) Discrete-time control/observation systems (93C55) Robust stability (93D09)

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(6)

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• The obstacle avoidance motion planning problem for autonomous vehicles: a low-demanding receding horizon control scheme
• Collision avoidance command governor for multi-vehicle unmanned systems
• On the use of mixed-integer linear programming for predictive control with avoidance constraints
• Hybrid MPC: open-minded but not easily swayed
• Locally convexified rigid tube MPC

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