An intelligent predictive control approach to path tracking problem of autonomous mobile robot

2002 ◽  
Author(s):  
Xinxin Yang ◽  
Kezhong He ◽  
Muhe Guo ◽  
Bo Zhang
Keyword(s):  
Mobile Robot ◽  
Predictive Control ◽  
Path Tracking ◽  
Autonomous Mobile Robot ◽  
Tracking Problem ◽  
Control Approach

scholarly journals Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881263 ◽  
Author(s):  
Paul Quillen ◽  
Kamesh Subbarao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Control Effort ◽  
Control Approach ◽  
Navigation Function ◽  
Guidance Law ◽  
High Level

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

Robust PID Tuning. Application to a Mobile Robot Path Tracking Problem

2000 ◽  
Vol 33 (4) ◽  
pp. 559-564
Author(s):  
Julio E. Normey-Rico ◽  
Ismael Alcalá ◽  
Juan Gómez-Ortega ◽  
Eduardo F. Camacho
Keyword(s):  
Mobile Robot ◽  
Path Tracking ◽  
Tracking Problem ◽  
Pid Tuning ◽  
Robot Path

Autonomous mobile robot model predictive control

2004 ◽  
Vol 77 (16) ◽  
pp. 1438-1445 ◽  
Author(s):  
B. Kim ◽  
D. Necsulescu * ◽  
J. Sasiadek
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robot

Robust Time-Varying Model Predictive Control with Application to Mobile Robot Unmanned Path Tracking

2014 ◽  
Vol 47 (3) ◽  
pp. 4849-4854 ◽  
Author(s):  
Mitra Bahadorian ◽  
Ray Eaton ◽  
Tim Hesketh ◽  
Borislav Savkovic
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Path Tracking ◽  
Time Varying

A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle

2018 ◽  
Vol 233 (6) ◽  
pp. 1480-1494 ◽  
Author(s):  
Qifan Tan ◽  
Lingling Shi ◽  
Jay Katupitiya
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Path Tracking ◽  
Control Allocation ◽  
Successful Implementation ◽  
Control Approach ◽  
Novel Approach ◽  
Wheel Drive ◽  
Integrator Model ◽  
Four Wheel Drive

This paper presents a novel approach for a force-controlled over-actuated two-wheel-steer four-wheel-drive vehicle to achieve accurate path tracking through control allocation. The control algorithm is developed by combining embedded integrator model predictive control and sequential quadratic programming–based control allocation. Based on the offset model presented in this paper, the model predictive control can generate the virtual accelerations. Using these virtual accelerations in control allocation, the actual control inputs are obtained. The proposed method is then used in a simulation to demonstrate its successful implementation in path tracking.

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