Obstacle parameter modeling for model predictive control of the unmanned vehicle
DC Field | Value | Language |
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dc.contributor.author | Yeu, J.-Y. | - |
dc.contributor.author | Kim, W.-H. | - |
dc.contributor.author | Im, J.-H. | - |
dc.contributor.author | Lee, D.-H. | - |
dc.contributor.author | Jee, G.-I. | - |
dc.date.available | 2020-02-29T09:45:18Z | - |
dc.date.created | 2020-02-11 | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/17500 | - |
dc.description.abstract | The MPC (Model Predictive Control) is one of the techniques that can be used to control an unmanned vehicle. It predicts the future vehicle trajectory using the dynamic characteristic of the vehicle and generate the control value to track the reference path. If some obstacles are detected on the reference paths, the MPC can generate control value to avoid the obstacles imposing the inequality constraints on the MPC cost function. In this paper, we propose an obstacle modeling algorithm for MPC with inequality constraints for obstacle avoidance and a method to set selective constraint on the MPC for stable obstacle avoidance. Simulations with the field test data show successful obstacle avoidance and way point tracking performance. © ICROS 2012. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.relation.isPartOf | Journal of Institute of Control, Robotics and Systems | - |
dc.subject | Dynamic characteristics | - |
dc.subject | Field test data | - |
dc.subject | Inequality constraint | - |
dc.subject | MPC | - |
dc.subject | Obstacle modeling | - |
dc.subject | Parameter modeling | - |
dc.subject | Vehicle trajectories | - |
dc.subject | Way-point tracking | - |
dc.subject | Collision avoidance | - |
dc.subject | Constraint theory | - |
dc.subject | Model predictive control | - |
dc.subject | Optimization | - |
dc.subject | Unmanned vehicles | - |
dc.subject | Predictive control systems | - |
dc.title | Obstacle parameter modeling for model predictive control of the unmanned vehicle | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.identifier.doi | 10.5302/J.ICROS.2012.18.12.1132 | - |
dc.identifier.bibliographicCitation | Journal of Institute of Control, Robotics and Systems, v.18, no.12, pp.1132 - 1138 | - |
dc.identifier.kciid | ART001716324 | - |
dc.identifier.scopusid | 2-s2.0-84881233632 | - |
dc.citation.endPage | 1138 | - |
dc.citation.startPage | 1132 | - |
dc.citation.title | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.volume | 18 | - |
dc.citation.number | 12 | - |
dc.contributor.affiliatedAuthor | Lee, D.-H. | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | MPC | - |
dc.subject.keywordAuthor | Obstacle avoidance | - |
dc.subject.keywordAuthor | Obstacle modeling | - |
dc.subject.keywordAuthor | Optimization | - |
dc.subject.keywordAuthor | Unmanned vehicle | - |
dc.subject.keywordPlus | Dynamic characteristics | - |
dc.subject.keywordPlus | Field test data | - |
dc.subject.keywordPlus | Inequality constraint | - |
dc.subject.keywordPlus | MPC | - |
dc.subject.keywordPlus | Obstacle modeling | - |
dc.subject.keywordPlus | Parameter modeling | - |
dc.subject.keywordPlus | Vehicle trajectories | - |
dc.subject.keywordPlus | Way-point tracking | - |
dc.subject.keywordPlus | Collision avoidance | - |
dc.subject.keywordPlus | Constraint theory | - |
dc.subject.keywordPlus | Model predictive control | - |
dc.subject.keywordPlus | Optimization | - |
dc.subject.keywordPlus | Unmanned vehicles | - |
dc.subject.keywordPlus | Predictive control systems | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
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