Safe interval path planning and flatness-based control for navigation of a mobile robot among static and dynamic obstacles

DOI10.1134/S000511792206008XzbMath1496.93085OpenAlexW4283819690MaRDI QIDQ2171728

Dmitry A. Makarov, A. A. Andreychuk, J. S. Belinskaya, K. S. Yakovlev

Publication date: 9 September 2022

Published in: Automation and Remote Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s000511792206008x

zbMATH Keywords

path planningmobile robotmotion primitivesflat systemdynamic obstacles

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

Cites Work

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• Nonlinear control systems: An introduction
• Flatness of dynamically linearizable systems
• Constrained model predictive control: Stability and optimality
• Covering method for terminal control with regard of constraints
• Reciprocal n-Body Collision Avoidance
• Flatness and defect of non-linear systems: introductory theory and examples

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