Local model predictive control experiences with differential driven wheeled mobile robots

@article{pacheco2008LocalMP,
  title={Local model predictive control experiences with differential driven wheeled mobile robots},
  author={lluis. pacheco and Ningsu Luo and J. Ferrer},
  journal={2008 IEEE International Conference on Automation, Quality and Testing, Robotics},
  year={2008},
  volume={2},
  pages={377-382}
}
This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and… CONTINUE READING