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

  • Authors:

  • Jorge Augusto Vasconcelos Alves;Walter Fetter Lages

  • Affiliations:

  • Federal University of Rio Grande do Sul, Porto Alegre, RS, Brazil;Federal University of Rio Grande do Sul, Porto Alegre, RS, Brazil

  • Venue:
  • RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
  • Year:
  • 2007

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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.