Nonlinear Model Predictive Control for Wheeled Mobile Robot in Dynamic Environment

被引：0
|
作者：
Hsieh, Chung-Han [1 ]
Liu, Jing-Sin [1 ]
机构：
[1] Acad Sinica, Inst Informat Sci, Taipei 11529, Taiwan
来源：
2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper address the set-point regulation problem of a nonholonomic wheeled mobile robot with obstacle avoidance in a known dynamic environment populated with static and moving obstacles subject to robot kinematic and dynamic constraints by using the nonlinear model predictive control in polar coordinate. The terminal state penalty, terminal state constraints, and the input saturation constraints are taken into consideration in this optimization problem to guarantee the closed-loop regulation performance and stability. Simulation results are shown for illustrating the effectiveness of the control algorithm in steering a nonholonomic wheeled mobile robot.
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页码：363 / 368
页数：6
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