Combined stochastic-deterministic predictive control using local-minima free navigation
Gregor Klančar,Marija Seder,Gregor Klančar,Marija Seder
This work proposes a model predictive control approach of a wheeled mobile robot based on a local-minima free navigation function. The constructed navigation function includes information on a goal location and obstacles. Novel conservative navigation is introduced that is simple to compute and yields convergent control behavior. To solve the optimization problem the combined optimization is propo...
