Nonlinear Model Predictive Control Parameters and Path Geometry

What is it about?

Nonlinear Model Predictive Control (NMPC) is popular in path planning scenarios for unmanned systems since it can find optimal movements of a system while considerung the system's constraints. The correlation between parameters of the NMPC and the geometry of the resulting path, however, is unknown so far. We present a first step in the direction of understanding this correlation and derive a design method for NMPC on the basis of path geometry for an elementary scenario.

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