Receding Horizon Following Control of Wheeled Mobile Robots: A Case Study

This paper presents a receding horizon controller for path following problem of a wheeled mobile robot. In general, a suitable terminal penalty and a terminal region are adopted to guarantee the recursive feasibility of the optimization problem and asymptotic convergence to the reference path, but they are usually difficult to be calculated online and often prepared offline. However, we can avoid this complex calculation by using the reference path as the terminal region for a special case study. Sufficient conditions on the asymptotic convergence and recursive feasibility of the proposed scheme are investigated. Subsequently, the designed controller is applied to the following problem of the wheeled mobile robot to illustrate the control performance of our approach. The effectiveness of the presented control strategy is verified by the simulation results.