Nonlinear Model Predictive Path-Following Controller for a Small-Scale Autonomous Bulldozer for Accurate Placement of Materials and Debris of Masonry in Construction Contexts

Nonlinear Model Predictive Path-Following Controller for a Small-Scale Autonomous Bulldozer for Accurate Placement of Materials and Debris of Masonry in Construction Contexts

This paper presents a nonlinear model predictive control (NMPC) scheme for the medium-level control of a small-scale autonomous bulldozer to accurately and safely displace crushed materials of masonry in construction contexts. For this purpose, the controller is required to minimize the error betwee...

Full description

Bibliographic Details
Main Authors: Subhan Khan, Jose Guivant
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Extended Kalman filter
masonry construction
nonlinear model predictive control
path-follower
small-scale bulldozer
unmanned ground vehicle
Online Access:https://ieeexplore.ieee.org/document/9491040/

Internet

https://ieeexplore.ieee.org/document/9491040/

Similar Items