Nonlinear Model Predictive Horizon for Optimal Trajectory Generation

Nonlinear Model Predictive Horizon for Optimal Trajectory Generation

This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop system dynamics model within the optimization problem...

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Bibliographic Details
Main Authors: Younes Al Younes, Martin Barczyk
Format: Article
Language:English
Published: MDPI AG 2021-07-01
Series:Robotics
Subjects:
trajectory generation
nonlinear model predictive approach
feedback linearization
dynamic obstacle avoidance
quadrotor vehicle
Online Access:https://www.mdpi.com/2218-6581/10/3/90

Internet

https://www.mdpi.com/2218-6581/10/3/90

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