• Adnan Tahirovic
  • Gianantonio Magnani
Part of the SpringerBriefs in Electrical and Computer Engineering book series (BRIEFSELECTRIC)


This chapter demonstrates the design procedure of the PB/MPC motion planning framework. The first two examples consider the vehicle models that might be used on flat terrains, a unicycle, and a car-like mobile vehicle. The third example covers a rather general model that can be used for rough terrains.


Vehicle Model Rear Wheel Slip Angle Flat Terrain Goal Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© The Author(s) 2013

Authors and Affiliations

  1. 1.Faculty of Electrical EngineeringUniversity of SarajevoSarajevoBosnia-Herzegovina
  2. 2.Dipartimento di ElettronicaPolitecnico di MilanoMilanoItaly

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