Predictive control based on dynamic modeling of omnidirectional mobile robot

Abstract

This paper presents a predictive controller of a holonomic omnidirectional mobile robot. First, we studied the dynamic properties of the robot then we presented the dynamic model. The predictive control law is obtained by using a state space model which is based on the dynamic model of the robot. In this work the reference trajectory is planified by the cubic splines using the classical formulae and with a defined velocity profile (bang-bang). Simulation results are given to illustrate the effectiveness of the control law joined with the dynamic model.