Optimal Motion Planning in GPS-Denied Environments Using Nonlinear Model Predictive Horizon

Optimal Motion Planning in GPS-Denied Environments Using Nonlinear Model Predictive Horizon

Navigating robotic systems autonomously through unknown, dynamic and GPS-denied environments is a challenging task. One requirement of this is a path planner which provides safe trajectories in real-world conditions such as nonlinear vehicle dynamics, real-time computation requirements, complex 3D e...

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Bibliographic Details
Main Authors: Younes Al Younes, Martin Barczyk
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Sensors
Subjects:
motion planner
path planning
nonlinear model predictive approach
feedback linearization
dynamic obstacle avoidance
drone vehicle
Online Access:https://www.mdpi.com/1424-8220/21/16/5547

Internet

https://www.mdpi.com/1424-8220/21/16/5547

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