文章基本信息

标题：Model Predictive Control of Nonholonomic Mobile Robots with Backward Motion
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作者：Di Cui ; Huiping Li
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：24
页码：195-200
DOI：10.1016/j.ifacol.2019.12.407
语种：English
出版社：Elsevier
摘要：Currently, most of model predictive control (MPC) of moible robots are designed based on forward movements, which is not efficient when the robot in certain initial positions. In this paper, a novel model predictive controller is designed to solve the regulation problem of a nonholonomic wheeled mobile robot with backward motion when its initial position in the first and second quadrants of Cartesian coordinates. System state variables selection and corresponding kinematic models in polar coordinate are defined to characterize backward movements. The terminal state cost function and terminal region together with the local controller are designed to guarantee the stability of the optimization problem (OP). Comparison studies show that the proposed MPC algorithm outperforms conventional ones.
关键词：KeywordsModel predictive control (MPC)backward motionnonholonomic wheeled mobile robotsregulationpolar coordinate