Model Predictive collision-free path following control for nonholonomic mobile robots

Model Predictive Control of Nonholonomic Mobile Robots

Hybrid Predictive Control of Mobile Robots for Path Following

The main objectives of this work are the development of simulation models and the synthesis of controllers for path following, in the scope of mobile robotics. The mathematical model of the mobile robot is nonlinear and subject to a set of constraints at the inputs of the system, as well as in its states. Therefore, hybrid control techniques integrated in a model predictive control strategy are...

Efficient Path Planning for Nonholonomic Mobile Robots

This work addresses path planning for nonholonomic robots moving in two-dimensional space. The problem consists in computing a sequence of line segments that leads from the current configuration of the robot to a target location, while avoiding a given set of obstacles. We describe a planning algorithm that has the advantage of being very efficient, requiring less of one millisecond of CPU time...

Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control

In this paper, we propose a novel coordinated path following controller based on model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure approach where the entire formation is considered as a rigid body and the control laws for a virtual leader vehicle and for actual follower robots are optimized by considering the dynamics of the virtual structure and the...

A guiding vector field algorithm for path following control of nonholonomic mobile robots

In this paper we propose an algorithm for pathfollowing control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot’s kinematic model, we design a GVF, whose integral curves converge to the trajectory. A...