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• W2974616576 abstract "We propose a set-based predictive control frame-work to predict inbound dynamic obstacles and optimize trajectories in the interest of safely guiding a vehicle towards a target. To account for uncertainties, the set-based controller generalizes conventional model predictive control and predicts the set that the state of a dynamical system might belong to. This generalization is used to formulate collision avoidance as a hard constraint in the set-based predictive control algorithm. As a proof-of-concept, the proposed framework is applied to a ground vehicle attempting to reach a target while anticipating and evading collisions with obstacles in the operating environment. Other applications of the controller and the associated optimal control problem are discussed." @default.
• W2974616576 created "2019-09-26" @default.
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• W2974616576 date "2019-08-01" @default.
• W2974616576 modified "2023-10-18" @default.
• W2974616576 title "Set-Based Predictive Control for Collision Detection and Evasion" @default.
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• W2974616576 doi "https://doi.org/10.1109/coase.2019.8842963" @default.
• W2974616576 hasPublicationYear "2019" @default.
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