A Model Predictive Control Strategy for Path-Tracking of Autonomous Mobile Robot Using Electromagnetism-Like Mechanism

摘要

Aiming at the problems in path-tracking control problem of wheeled mobile robots, in the presence of both actuator saturations and external disturbances, a model predictive control strategy is proposed in this paper optimization method of electromagnetism-like mechanism are used to perform real-time nonlinear minimization of the cost function which penalizes the robot's position error, orientation angle error, saturation limits of the actuators and external disturbance. Experiment results of the trajectory following and the performances of the methods of optimization are discussed.