In this paper the model Predictive Control (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explici...
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ISBN:
(纸本)9781457708398
In this paper the model Predictive Control (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explicit optimal controller design and implementation are described. The MPC solution is calculated off-line and expressed as a piecewise affine function of the current state of a mobile robot. A linearizedkinematicmodel of a differential drive mobile robot is used for the controller design purpose. The optimal controller, which has a form of a look-up table, is tested in simulation and experimentally.
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