Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels
Wei Wang,Wei Xiao,Alejandro Gonzalez-Garcia,Jan Swevers,Carlo Ratti,Daniela Rus,Wei Wang,Wei Xiao,Alejandro Gonzalez-Garcia,Jan Swevers,Carlo Ratti,Daniela Rus
In autonomous robot navigation, the trajectories from path planners are considered to be safe regions, and deviations could endanger vessels. Model Predictive Control (MPC) stands as a popular choice for trajectory tracking problems as it naturally addresses operational constraints, such as dynamics and control constraints. Nevertheless, achieving robustness in changing environments like oceans an...
