Peng HangSunan Huang 0001Xinbo ChenKok Kiong TanPath planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach.2021235J. Syst. Control. Eng.2https://doi.org/10.1177/0959651820937844db/journals/jsce/jsce235.html#HangHCT21