Robust MPC Based Motion Planning and Control of Autonomous Ground Vehicles

Download or read book Robust MPC Based Motion Planning and Control of Autonomous Ground Vehicles written by Vivek Bithar and published by . This book was released on 2020 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: The motion planning layer of an autonomous software stack is responsible for the planning of an obstacle avoidance path in all possible scenarios. Emergency scenarios where maneuvers that must be planned are at the limits of vehicle handling are the most challenging path planning problems due to the presence of inherent uncertainties in the modeling, localization/state estimation, and the environment perception.