Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
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.
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Adnan Tahirovic Gianantonio Magnani
Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
SpringerBriefs in Electrical and Computer Engineering Control, Automation and Robotics
Series Editors Tamer Basßar Antonio Bicchi Miroslav Krstic
For further volumes: http://www.springer.com/series/10198
Adnan Tahirovic Gianantonio Magnani •
Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning
123
Gianantonio Magnani Dipartimento di Elettronica Politecnico di Milano Milan Italy
Adnan Tahirovic Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina
ISSN 2192-6786 ISBN 978-1-4471-5048-0 DOI 10.1007/978-1-4471-5049-7
ISSN 2192-6794 (electronic) ISBN 978-1-4471-5049-7 (eBook)
Springer London Heidelberg New York Dordrecht Library of Congress Control Number: 2013934010 Ó The Author(s) 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To Enver, Djula and Adaleta AD To Giuliana, Carlo and Silvia MG
Acknowledgments
We would like to thank Karl Iagnemma (Massachusetts Institute of Technology), Luca Bascetta (Politecnico di Milano), Paolo Rocco (Politecnico di Milano), and Yoshiaki Kuwata (NASA—Jet Propulsion Laboratory) for their valuable help and comments and the discussions on the topics
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