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Published in:
2013 | OriginalPaper | Chapter
5. Conclusion
Authors : Adnan Tahirovic, Gianantonio Magnani
Published in: Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
Publisher: Springer London
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Abstract
The presented PB/MPC motion planning approach is based both on the energy-shaping technique using a navigation function obtained from the terrain configuration and on the passivity-based MPC concept. The planner can be seen as a generalized DWA planning technique. The PB/MPC algorithm is a straightforward procedure that can be easily adapted to the navigation for a broad class of vehicles and terrains. It guarantees task completion under the assumption that the vehicle model is known and its states are obtainable through measurement and estimation at the end of each optimization interval.