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Title:

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

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
Journal title:
Robotics
Year:
2022
Journal volume:
11
Month:
Jul
Journal issue:
4
Pages contribution:
72
Reviewed:
ja
Language:
en
Publisher:
MDPI
Date of publication:
06.07.2022
Semester:
SS 22
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