Embedded nonlinear model predictive control for obstacle avoidance using PANOC
Published: Jun 1, 2018
Abstract
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly nonconvex, obstacles involving polytopes, ellipsoids, semialgebraic sets and generic sets described by a set of nonlinear inequalities. PANOC is particularly well-suited for embedded applications as...
Paper Details
Title
Embedded nonlinear model predictive control for obstacle avoidance using PANOC
Published Date
Jun 1, 2018
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