Point stabilization of mobile robots with nonlinear model predictive control

This paper presents an optimal control scheme based on model-based predictive control (MPC) for a wheeled mobile robot (WMR) with nonholonomic constraints. It is shown that, by using MPC, some advantages can be obtained, such as the ability to handle constraints due to state or input limitations and...

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Bibliographic Details
Published inIEEE International Conference Mechatronics and Automation, 2005 Vol. 3; pp. 1163 - 1168 Vol. 3
Main Authors Kuhne, F., Lages, W.F., da Silva, J.M.G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Cost function
Error correction
Kinematics
Mobile robots
Neural networks
Optimal control
Predictive control
Predictive models
Trajectory
Tuning
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Summary:This paper presents an optimal control scheme based on model-based predictive control (MPC) for a wheeled mobile robot (WMR) with nonholonomic constraints. It is shown that, by using MPC, some advantages can be obtained, such as the ability to handle constraints due to state or input limitations and performance improvement. To solve some problems with other MPCs for WMRs, this paper proposes to formulate a cost function in polar coordinates. Considerations regarding the computational effort of the MPC are developed with the purpose of analysing the viability of the proposed technique in real-time.
ISBN:9780780390447
078039044X
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2005.1626717