LiDAR-based Model Predictive Control using Control Barrier Functions

This paper presents a model predictive control (MPC) with recursive feasibility guarantees for robots with LiDAR sensory measurements. Control barrier functions (CBF) are incorporated within the MPC framework to shorten the prediction horizon of MPC compared to the standard MPC, effectively reducing...

Full description

Bibliographic Details

Published in:	Proceedings of the American Control Conference pp. 315 - 322
Main Authors:	Tooranjipour, Pouria, Kiumarsi, Bahare
Format:	Conference Proceeding
Language:	English
Published:	AACC 08.07.2025
Subjects:	Collision avoidance Computational complexity Control Barrier Function Fitting Laser radar LiDAR Model Predictive Control Navigation Prediction algorithms Predictive control Robot sensing systems ROS Safety
ISSN:	2378-5861
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!