Some Limitations and Real-Time Implementation

  • Adnan Tahirovic
  • Gianantonio Magnani
Part of the SpringerBriefs in Electrical and Computer Engineering book series (BRIEFSELECTRIC)


This chapter gives an analysis of the worst possible case which the vehicle might experience during the task execution on rough terrains while using the PB/MPC motion planner. Additionally, we present a possible real-time implementation of an MPC-like motion planner using algorithms developed for optimal control problems.


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Copyright information

© The Author(s) 2013

Authors and Affiliations

  1. 1.Faculty of Electrical EngineeringUniversity of SarajevoSarajevoBosnia-Herzegovina
  2. 2.Dipartimento di ElettronicaPolitecnico di MilanoMilanoItaly

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