Lecture 12, April 7, 2021: Outdoor Motion Planning and Control

Outdoor Motion Planning and Control

Predictive Modeling

– Braking
– Turning
– Vehicle Rollover
– Wheel Slip and Yaw Stability

Control of mobile robot
1. Robot Trajectory Following
2. Perception Based Control
3. Steering Trajectory Generation
4. Optimal and Model Predictive Control

Nonlinear Model Predictive Control (NMPC)  in Semiautonomous Systems at Aalto
Example: Autonomous driving of Tractor and Implement

5. Intelligent Control

Recording from the lecture

A journal paper as a supplementary material, not required in the exam,