Model predictive control-based target search and tracking using autonomous mobile robot with limited sensing domain

2017 ◽  
Author(s):  
Chang Liu ◽  
J. Karl Hedrick
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robot ◽  
Target Search ◽  
Limited Sensing

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

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.

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