MPC-Based Path Tracking of Mobile Robots in the Non-Global Coordinate System

摘要

Currently, model predictive control (MPC) is increasingly applied to path tracking. The traditional path tracking controller based on MPC usually controls the mobile robot to track the reference path in the global coordinate system. However, in some conditions, such as underground mining and indoor transportation, non-global coordinates are more easily obtainable than global coordinates. Therefore, the purpose of this paper is to propose a model predictive controller that can control the mobile robot to track the reference path in the non-global coordinate system. The controller proposed in this paper is verified by simulation. The results show that the performance of the proposed controller is good. The maximum displacement error is 0.0390m, and the maximum heading error is 0.0778rad. In addition, by replacing the model, the proposed controller can be applied to path tracking of other mobile devices.