An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: a sum-of-squares approach

DOI10.1016/j.jfranklin.2015.03.021zbMath1395.93387OpenAlexW2018280292MaRDI QIDQ1660483

Walter Lucia, Giuseppe Franzè

Publication date: 16 August 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2015.03.021

zbMATH Keywords

mobile robotsobstacle avoidance modelonholonomic constraintspredictive control schemesum-of-squares approach

Mathematics Subject Classification ID

Related Items (3)

Convex MPC for exclusion constraints ⋮ Output feedback control for a class of high-order nonholonomic systems with complicated nonlinearity and time-varying delay ⋮ Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter

Uses Software

• QEPCAD
• GloptiPoly
• Ellipsoidal Toolbox

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• A robust model predictive control algorithm augmented with a reactive safety mode
• Estimating the domain of attraction via union of continuous families of Lyapunov estimates
• Estimating the domain of attraction for non-polynomial systems via LMI optimizations
• Ellipsoidal calculus for estimation and control
• Homogeneous Lyapunov functions for systems with structured uncertainties.
• Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance
• The obstacle avoidance motion planning problem for autonomous vehicles: a low-demanding receding horizon control scheme
• An Off-Line MPC Strategy for Nonlinear Systems Based on SOS Programming
• Analysis of Non-polynomial Systems Using the Sum of Squares Decomposition
• Stability Region Analysis Using Polynomial and Composite Polynomial Lyapunov Functions and Sum-of-Squares Programming
• A Nonlinear Sum-of-Squares Model Predictive Control Approach
• LMI Techniques for Optimization Over Polynomials in Control: A Survey

This page was built for publication: An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: a sum-of-squares approach