Abstract In the process of obstacle avoidance, there are some problems such as low precision and poor safety in path tracking intelligent vehicles. To solve these problems, a model prediction controller with soft constraints is designed this paper. The adopts vehicle motion model, according to radius circumcircle vehicle, anti-collision constraint condition constructed improve safety. tracks it...

Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the technology must solve problems uncertain environment interaction coordinated control. Few studies have been conducted on coordination multi-manipulator, effect is not good. To problem cooperative system, this study divides into two forms, namely coupled superimposed...