Control and Obstacle Avoidance of Wheeled Mobile Robot

摘要

The idea belong to presented work is to use a MPC (Model Predictive Control) controller combined with the feedback linearization in order to manage the control problem of a single robot with unicycle Kinematics and obstacle avoidance function. To guarantee the obstacle avoidance of wheeled mobile robot we use the widely popular concept of artificial potential field that perfectly integrates with MPC. This approach can be naturally used for defining a proper cost function in the MPC framework. The proposed algorithm is based on the concept of robust MPC control that guarantees the single robot to avoid collision in the presence of only fixed obstacles. The proposed control algorithm has been validated using a simulation environment. Some of the most relevant results are presented in the simulation section. In the end some possible future research directions are underlined.