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1. An input-sample method for zonotopic obstacle avoidance with discrete-time control barrier functions
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : In this thesis, we consider the motion planning problem for an autonomous vehicle in an obstacle-cluttered environment approximated by zonotopes, and we propose an input sampling algorithm leveraging discrete-time control barrier function conditions (DCBF). Specifically, an optimization-based control barrier function that takes into account the geometric shapes of the vehicle and obstacles is constructed and verified. LÄS MER
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