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Adaptive nonlinear MPC for efficient trajectory tracking applied to autonomous mining skid-steer mobile robots
Conference ObjectAbstract: The heterogeneous nature of the navigation surface suggests adaptation capabilities in vehicle motioPalabras claves:Nonlinear model pbkp_redictive control, Nonlinear Moving Horizon Estimation, Real-Time Iteration, Wheel-Terrain InteractionAutores:Alvaro Javier Prado, Cheein F.A.A., Danilo Chavez. Orcid, Oscar E. Camacho, Torres-Torriti M.Fuentes:googlescopusDistributed tube-based nonlinear MPC for motion control of skid-steer robots with terra-mechanical constraints
ArticleAbstract: Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to improve navPalabras claves:distributed robot systems, field robots, mining robotics, Motion control, Robust controlAutores:Álvaro Javier Prado, Cheein F.A.A., Torres-Torriti M.Fuentes:scopus