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This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
Dorbetkhany et al. (Mon,) studied this question.
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