Dynamic Model Based Predictive Control for Mobile Robots
نویسندگان
چکیده
A nonlinear predictive controller (NMPC) is developed to control a unicycle-like mobile robot for trajectory tracking. Dynamic model of PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on control actions and system states are also considered. Simulations results at both tracking and regulation (positioning) are shown, these results show the good performance of developed controller. Finally, this paper shows that the controller can be implemented in real-time by using an analysis of compute times of NMPC algorithm. Key words– mobile robot, predictive nonlinear control (NMPC), trajectory tracking, dynamic model
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تاریخ انتشار 2007