{"id":"https://openalex.org/W3213240915","doi":"https://doi.org/10.1109/iecon48115.2021.9589658","title":"Dynamic Obstacles Avoidance Using Nonlinear Model Predictive Control","display_name":"Dynamic Obstacles Avoidance Using Nonlinear Model Predictive Control","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3213240915","doi":"https://doi.org/10.1109/iecon48115.2021.9589658","mag":"3213240915"},"language":"en","primary_location":{"id":"doi:10.1109/iecon48115.2021.9589658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03410202","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024061126","display_name":"Mukhtar Sani","orcid":"https://orcid.org/0000-0001-5975-1755"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210129773","display_name":"Institute of Engineering","ror":"https://ror.org/03ny67e60","country_code":"NP","type":"education","lineage":["https://openalex.org/I155028946","https://openalex.org/I4210129773"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210152770","display_name":"Kano State University of Technology","ror":"https://ror.org/042rjfn67","country_code":"NG","type":"education","lineage":["https://openalex.org/I4210152770"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR","NG","NP"],"is_corresponding":true,"raw_author_name":"Mukhtar Sani","raw_affiliation_strings":["CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","Institute of Engineering Univ. Grenoble Alpes","Kano University of Science and Technology, Wudil, Nigeria"],"affiliations":[{"raw_affiliation_string":"CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institute of Engineering Univ. Grenoble Alpes","institution_ids":["https://openalex.org/I4210129773","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Kano University of Science and Technology, Wudil, Nigeria","institution_ids":["https://openalex.org/I4210152770"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066843673","display_name":"Bogdan Robu","orcid":"https://orcid.org/0000-0001-7568-007X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210129773","display_name":"Institute of Engineering","ror":"https://ror.org/03ny67e60","country_code":"NP","type":"education","lineage":["https://openalex.org/I155028946","https://openalex.org/I4210129773"]}],"countries":["FR","NP"],"is_corresponding":false,"raw_author_name":"Bogdan Robu","raw_affiliation_strings":["CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","Institute of Engineering Univ. Grenoble Alpes"],"affiliations":[{"raw_affiliation_string":"CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institute of Engineering Univ. Grenoble Alpes","institution_ids":["https://openalex.org/I4210129773","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090818308","display_name":"Ahmad Hably","orcid":"https://orcid.org/0000-0001-6220-3856"},"institutions":[{"id":"https://openalex.org/I4210129773","display_name":"Institute of Engineering","ror":"https://ror.org/03ny67e60","country_code":"NP","type":"education","lineage":["https://openalex.org/I155028946","https://openalex.org/I4210129773"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR","NP"],"is_corresponding":false,"raw_author_name":"Ahmad Hably","raw_affiliation_strings":["CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","Institute of Engineering Univ. Grenoble Alpes"],"affiliations":[{"raw_affiliation_string":"CNRS, Grenoble INP, GIPSA-Lab, Univ. Grenoble Alpes, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Institute of Engineering Univ. Grenoble Alpes","institution_ids":["https://openalex.org/I4210129773","https://openalex.org/I899635006"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024061126"],"corresponding_institution_ids":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I4210129773","https://openalex.org/I4210152770","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":1.2443,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.79746791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8707946538925171},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7709459066390991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.586246907711029},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5518209338188171},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5003349781036377},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.48212385177612305},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4781254827976227},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47020918130874634},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44202157855033875},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.42655229568481445},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.410831093788147},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.410390704870224},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3724508285522461},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2841975688934326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22865623235702515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17921358346939087},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1305350363254547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10916370153427124}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8707946538925171},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7709459066390991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.586246907711029},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5518209338188171},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5003349781036377},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.48212385177612305},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4781254827976227},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47020918130874634},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44202157855033875},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.42655229568481445},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.410831093788147},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.410390704870224},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3724508285522461},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2841975688934326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22865623235702515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17921358346939087},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1305350363254547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10916370153427124},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon48115.2021.9589658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03410202v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03410202","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeeiecon.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03410202v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03410202","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeeiecon.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W119501476","https://openalex.org/W159183910","https://openalex.org/W1586660876","https://openalex.org/W1677636361","https://openalex.org/W1961666289","https://openalex.org/W1974164103","https://openalex.org/W1980392184","https://openalex.org/W1992660349","https://openalex.org/W2026048835","https://openalex.org/W2099441085","https://openalex.org/W2102975675","https://openalex.org/W2104929776","https://openalex.org/W2116116881","https://openalex.org/W2122561468","https://openalex.org/W2123396981","https://openalex.org/W2133661758","https://openalex.org/W2153884484","https://openalex.org/W2160105858","https://openalex.org/W2172117433","https://openalex.org/W2279700232","https://openalex.org/W2313244732","https://openalex.org/W2344179576","https://openalex.org/W2411880591","https://openalex.org/W2519501401","https://openalex.org/W2593192875","https://openalex.org/W2771057458","https://openalex.org/W2794073868","https://openalex.org/W2801910602","https://openalex.org/W2807618943","https://openalex.org/W2842089854","https://openalex.org/W2888152797","https://openalex.org/W2914126853","https://openalex.org/W2973185801","https://openalex.org/W3082038112","https://openalex.org/W3107652914","https://openalex.org/W4253694554","https://openalex.org/W6606443834"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W2799225442","https://openalex.org/W1779399219","https://openalex.org/W2895956935","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W2143511391","https://openalex.org/W1981727740","https://openalex.org/W4251946813","https://openalex.org/W2885820669"],"abstract_inverted_index":{"In":[0,35],"this":[1,80],"paper,":[2],"a":[3,27,37,76,90,96,106,114,122,132,150],"Nonlinear":[4],"Model":[5],"Predictive":[6],"Control":[7],"(NMPC)":[8],"has":[9],"been":[10],"employed":[11],"to":[12,42,57,89,138,142],"solve":[13],"point-stabilization":[14],"problems":[15],"with":[16,30],"static":[17,163],"and":[18,49,109,164],"dynamic":[19,165],"obstacles":[20,101,166],"avoidance.":[21],"The":[22,59,155],"algorithm":[23],"was":[24],"implemented":[25],"on":[26],"mobile":[28],"robot":[29],"two":[31],"differential":[32],"drive":[33],"wheels.":[34],"NMPC,":[36],"cost":[38,140],"function":[39,141],"is":[40,64,87,103,136,168],"formulated":[41],"minimize":[43],"an":[44],"error":[45],"between":[46],"the":[47,50,54,65,72,82,119,127,139,144,147,158],"reference":[48],"current":[51],"state":[52,74,134],"of":[53,62,146,157],"system":[55],"subject":[56],"constraints.":[58],"major":[60],"drawback":[61],"NMPC":[63],"computation":[66,128],"time,":[67],"which":[68],"results":[69],"from":[70],"predicting":[71],"system\u2019s":[73],"over":[75],"horizon.":[77,117,154],"However,":[78],"in":[79],"work,":[81],"resulting":[83],"optimal":[84],"control":[85,148],"problem":[86,94],"converted":[88],"discrete":[91],"nonlinear":[92],"programming":[93],"using":[95,149,170],"recently":[97],"developed":[98],"toolkit.":[99],"Dynamic":[100],"avoidance":[102,167],"incorporated":[104],"as":[105],"time-varying":[107],"constraint":[108],"can":[110],"be":[111],"affected":[112],"by":[113],"short":[115],"prediction":[116,124,153],"On":[118],"other":[120],"hand,":[121],"long":[123],"horizon":[125],"affects":[126],"time.":[129],"For":[130],"this,":[131],"terminal":[133],"penalty":[135],"added":[137],"guarantee":[143],"stability":[145],"relatively":[151],"shorter":[152],"performance":[156],"proposed":[159],"controller":[160],"achieving":[161],"both":[162],"verified":[169],"several":[171],"simulation":[172],"scenarios.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
