Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

Name: Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
Brand: Springer London Ltd
SKU: 9781447150480
Price: 20565 HUF
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Szerző: Adnan Tahirovic, Gianantonio Magnani

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Kötés: Puha kötésű

Kiadó: Springer London Ltd

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Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoret...

Információk a könyvről

Szerző

Adnan Tahirovic, Gianantonio Magnani

Nyelv

Angol

Kötés

Könyv - Puha kötésű

Kiadva

2013

oldal

EAN

9781447150480

ISBN

1447150481

Enbook ID

01426199

Kiadó

Springer London Ltd

Súly

126

Méretek

156 x 236 x 6

Teljes leírás

Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: how to use an MPC optimization framework for the mobile vehicle navigation approach; how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and§what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. §The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimization step is continuously repeated to take into account new local sensor measurements. These ongoing changes make the path generated rather robust in comparison with techniques that fix the entire path prior to task execution. In addition to researchers working in MPC, engineers interested in vehicle path planning for a number of purposes: rescued mission in hazardous environments; humanitarian demining; agriculture; and even planetary exploration, will find this SpringerBrief to be instructive and helpful.

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Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

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