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High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles

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Figure

Table 1.1: Comparison of global path planning and online obstacle avoidance algo- algo-rithms
Figure 1.7: Schematic of an AGV with the NLMPC-based obstacle avoidance algo- algo-rithm.
Figure 2.13: Lateral tire force described by the Pacejka Magic Formula tire model in pure cornering condition.
Figure 3.1: Comparison of responses when the longitudinal load transfer effect is ignored in the two DoF vehicle model.
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