Real-time point stabilization of a mobile robot using model predictive control

Abstract

This paper proposes a model predictive control (MPC) strategy for a differential-drive mobile robot. By using MPC, an appropriate optimal control law is implicitly obtained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The optimization problem is solved by sequential quadratic programming (SQP) and experimental results show that the control signal computation can be performed under the real-time requirements.