Abstract
This chapter gives an analysis of the worst possible case which the vehicle might experience during the task execution on rough terrains while using the PB/MPC motion planner. Additionally, we present a possible real-time implementation of an MPC-like motion planner using algorithms developed for optimal control problems.
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Tahirovic, A., Magnani, G. (2013). Some Limitations and Real-Time Implementation. In: Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning. SpringerBriefs in Electrical and Computer Engineering(). Springer, London. https://doi.org/10.1007/978-1-4471-5049-7_4
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DOI: https://doi.org/10.1007/978-1-4471-5049-7_4
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