1. Model predictive control for the tracking of autonomous mobile robot combined with a local path planning
- Author
-
Jianfeng Sun, Liqun Liu, Jiasheng Xu, and Jianhua Li
- Subjects
Control and Optimization ,Control engineering systems. Automatic machinery (General) ,Computer science ,Applied Mathematics ,Potential field ,Mobile robot ,Tracking (particle physics) ,Computer Science::Robotics ,Artificial potential function ,Model predictive control ,Control theory ,TJ212-225 ,Obstacle avoidance ,Trajectory ,T1-995 ,Motion planning ,Instrumentation ,Technology (General) - Abstract
This article presents a model predictive control (MPC) coupled with an artificial potential field (APF) to resolve the trajectory tracking while considering the obstacle avoidance. In this article, the obstacle avoidance problem is solved by a local path planning based on the artificial potential field by constructing a virtual goal. A virtual goal is generated to produce an attractive force to guide the mobile robot to a collision-free space. The planned path is controlled by a proportional–integral–derivative (PID) controller to avoid collision. After arriving at the virtual goal, an off-line explicit MPC is calculated to obtain the optimal control inputs to track the reference trajectory. The simulation results show that the proposed method can be applied to control the mobile robot in the environment with one obstacle.
- Published
- 2021