An Iterative LQR Controller for Off-Road and On-Road Vehicles using a Neural Network Dynamics Model

28 Jul 2020Akhil NagariyaSrikanth Saripalli

In this work we evaluate Iterative Linear Quadratic Regulator(ILQR) for trajectory tracking of two different kinds of wheeled mobile robots namely Warthog (Fig. 1), an off-road holonomic robot with skid-steering and Polaris GEM e6 [1], a non-holonomic six seater vehicle (Fig... (read more)

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