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An unscented predictive motion planning algorithm of a nonholonomic system using output feedback is presented. A two-wheeled robot is selected as the example nonholonomic system. A predictive motion planning scheme is used to find the suboptimal control inputs. In addition to the nonholonomic constraint, state estimation and collision avoidance chance constraints are incorporated to the predictive...
Various types of autonomous vehicles(AVs) are used widely in the field of military and civilian. Aiming at the difficulty of the real-time intelligent planning of the AVs in the dynamic and uncertain complex environment, a more generalized graphical model-based planning frame and algorithm is studied in this paper. To plan the waypoints for AVs in stochastic environment, a dynamic Bayesian network-based...
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