Coordination Control of Wheeled Mobile Robot Using MPC

摘要

In the last decades Model predictive control (MPC) is the leading paradigm for high-performance and cost-effective control of complex systems. MPC contains powerful technique for optimizing the performance of constrained systems on state and control variables. For this reason, we use a distributed controller to coordinate a fleet of moving robots with unicycle kinematics. The proposed algorithm is based on the concept of robust MPC control with tube based strategy (i.e. It imposes low complexity and conservativeness). Using this approach we are able to guarantee that the real controlled system, on which a bounded disturbance is supposed to act, remains constrained in a neighborhood of the trajectory of the ideal system, which is defined by neglecting the effect of uncertainties. Obstacle avoidance function introduced for prevent collision between robot coordination. Matlab implementation and real robot results are used to show the efficacy of the proposed control strategy.