Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots

被引：0

作者：

Maurovic, Ivan ^{[1
]}

Baotic, Mato ^{[1
]}

Petrovic, Ivan ^{[1
]}

机构：

[1] Univ Zagreb, Fac Elect Engn & Comp, Zagreb 41000, Croatia

来源：

2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2011年

关键词：

REAL-TIME; REGULATOR; SYSTEMS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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 linearized kinematic model 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.

引用

页码：712 / 717

页数：6

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