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Titel:

A Fast and Close-to-Optimal Receding Horizon Control for Trajectory Generation in Dynamic Environments

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Hoang-Dinh, Khoi; Leibold, Marion; Wollherr, Dirk
Abstract:
This paper presents a new approach for the optimal trajectory planning of nonlinear systems in a dynamic environment. Given the start and end goals with an objective function, the problem is to find an optimal trajectory from start to end that minimizes the objective while taking into account the changes in the environment. One of the main challenges here is that the optimal control sequence needs to be computed in a limited amount of time and needs to be adapted on-the-fly. The control method p...     »
Zeitschriftentitel:
Robotics
Jahr:
2022
Band / Volume:
11
Monat:
Jul
Heft / Issue:
4
Seitenangaben Beitrag:
72
Reviewed:
ja
Sprache:
en
Verlag / Institution:
MDPI
Publikationsdatum:
06.07.2022
Semester:
SS 22
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