A receding horizon control strategy for constrained differential-drive robots moving in static unknown environments

被引：0

作者：

Tiriolo, Cristian ^{[1
]}

Franze, Giuseppe ^{[1
]}

Lucia, Walter ^{[2
]}

机构：

[1] Univ Calabria, DIMES Dept, I-87036 Arcavacata Di Rende, Italy

[2] Concordia Univ, CIISE Dept, Montreal, PQ H3G 1M8, Canada

来源：

2020 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA) | 2020年

关键词：

LINEARIZATION;

D O I：

10.1109/ccta41146.2020.9206301

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a reference tracking problem for wheeled differential-drive robots subject to obstacle avoidance requirements is considered. By resorting to feedback-linearization techniques, the differential-drive nonlinear dynamics is first recast as two simple integrators under state-dependent input constraints; then, an ad-hoc switching receding horizon controller is derived with the aim to efficiently handle time-varying constraints and non-convex obstacle-free regions. Effectiveness and benefits of such an approach are finally discussed by means of experimental results obtained using an E-puck2 differential-drive robot.

引用

页码：261 / 266

页数：6

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