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Author/Affiliation: WidowatiOpen AccessArticle
5 Pages, 586 KB 
Multi-Restricted Area Avoidance Scenario Using Hybrid Dynamical Model and Its Predictive Controller
Abstract:
This article is addressed to show the results of hybrid dynamical modeling in the form of PWA (piecewise-affine) and equivalent MLD (mixed-logical dynamical) model for multi-restricted areas avoidance of an autonomous system. It is a problem of determining the optimal moving trajectory from plant’s initial position to some desired position while avoiding some restricted areas…
Read More(This article belongs to the SP7 (Special Issue on Advancement in Engineering and Computer Science 2019) & Section Robotics (ROB))