Mobile Robot Trajectory Tracking Using Model Predictive Control

  title={Mobile Robot Trajectory Tracking Using Model Predictive Control},
  author={Felipe K{\"u}hne},
  • Felipe Kühne
  • Published 2005
This work focus on the application of model-based predictiv e control (MPC) to the trajectory tracking problem of nonholonomic wheeled mobile robots (WMR). The main motivation of the use of MPC in this case relies on its ability in considering, in a straightforward way, control a nd state constraints that naturally arise in practical proble ms. Furthermore, MPC techniques consider an explicit performa nce criterion to be minimized during the computation of the cont r l law. The trajectory… CONTINUE READING
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