A stabilizing receding horizon regulator for nonholonomic mobile robots

Abstract

This paper presents a receding horizon (RH) controller used for regulating a nonholonomic mobile robot. The RH control stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimization constraints. A suboptimal solution to the optimization problem is sufficient to achieve stability. A new terminal-state penalty and its corresponding terminal-state constraints are found. Implementation and simulation results are provided to verify the proposed control strategy.