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Extended Conference Paper POINT STABILIZATION TECHNIQUE USING MODEL PREDICTIVE CONTROL AND EXACT EUCLIDIAN DISTANCE TRANSFORM METHODS
Sigma J Eng & Nat Sci
This paper presents a point stabilization method which is a hybrid form of Exact Euclidian Distance Transform (EEDT) and Model Predictive Control (MPC) theory. An optimal control problem is evaluated using a wheeled mobile robot's mathematical model. The model is represented in polar coordinates considering non-holonomic constraints. The optimal input parameters are obtained by solving a sequential quadratic cost function. The EEDT algorithm provides via-points starting from the initialfatcat:67jbei3z5nayhdhyh47puf44hm