Minimax robust RHC method for two mobile robots cooperative carrying task problem

Authors:
Tohru Kawabe
Affiliations:
Department of Computer Science, University of Tsukuba, Tsukuba, Japan
Venue:
MACMESE'10 Proceedings of the 12th WSEAS international conference on Mathematical and computational methods in science and engineering
Year:
2010

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Abstract

In this paper, a robust receding horizon control (RHC) method and its application to a cooperative carrying task problem by two mobile robots is discussed. In the problem, a following robot must be controlled autonomously and it should hold constraint conditions of relative position against structured uncertainties and bounded disturbances anytime. Then the proposed robust RHC method is based on the minimax optimization with bounded constraint conditions. The proposed method generates the velocity and direction angle adequately to hold the conditions. A numerical example is shown to demonstrated the effectiveness of the method.