Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle
Alejandro González-García, Ivana Collado-Gonzalez, Rodolfo Cuan-Urquizo, Carlos Sotelo, David Sotelo, Herman Castañeda
Topics & Concepts
Collision avoidanceObstacle avoidanceControl theory (sociology)Model predictive controlObstacleComputer scienceNonlinear systemLidarPath (computing)TrajectoryHorizonVehicle dynamicsNonlinear modelMotion planningUnmanned surface vehicleControl (management)Mobile robotEngineeringCollisionArtificial intelligenceAerospace engineeringMathematicsMarine engineeringGeologyRobotPhysicsGeographyRemote sensingArchaeologyProgramming languageQuantum mechanicsComputer securityGeometryAstronomyMaritime Navigation and SafetyUnderwater Vehicles and Communication SystemsRobotic Path Planning Algorithms