SpringerBriefs in Control, Automation and Robotics

Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

Authors: Tahirovic, Adnan, Magnani, Gianantonio

  • Provides the reader with a means of guaranteeing task completion for path execution
  • Can accomodate the characteristics of a range of complex vehicle models during motion planning
  • Brings the flexibility of model predictive control to robot path planning
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eBook $34.99
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  • ISBN 978-1-4471-5049-7
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  • Immediate eBook download after purchase
Softcover $49.95
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  • ISBN 978-1-4471-5048-0
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About this book

Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include:

• how to use an MPC optimization framework for the mobile vehicle navigation approach;

• how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and

 • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal.

The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimization step is continuously repeated to take into account new local sensor measurements. These ongoing changes make the path generated rather robust in comparison with techniques that fix the entire path prior to task execution. In addition to researchers working in MPC, engineers interested in vehicle path planning for a number of purposes: rescued mission in hazardous environments; humanitarian demining; agriculture; and even planetary exploration, will find this SpringerBrief to be instructive and helpful.

Table of contents (5 chapters)

Buy this book

eBook $34.99
price for USA (gross)
  • ISBN 978-1-4471-5049-7
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $49.95
price for USA
  • ISBN 978-1-4471-5048-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
Authors
Series Title
SpringerBriefs in Control, Automation and Robotics
Copyright
2013
Publisher
Springer-Verlag London
Copyright Holder
The Author(s)
eBook ISBN
978-1-4471-5049-7
DOI
10.1007/978-1-4471-5049-7
Softcover ISBN
978-1-4471-5048-0
Series ISSN
2192-6786
Edition Number
1
Number of Pages
XI, 56
Number of Illustrations and Tables
3 b/w illustrations, 17 illustrations in colour
Topics