Adaptive model predictive control for trajectory tracking of Mecanum mobile robots

摘要

In order to improve the trajectory tracking effect of the omnidirectional mobile robot, a model predictive controller optimized by improved genetic algorithm is designed according to the kinematic model of Mecanum wheel; considering the mechanical constraints and speed constraints of the omnidirectional mobile robot, and considering the changes of the curvature of the tracking trajectory. The time domain parameters of the controller are adaptively adjusted, and the improved control algorithm is simulated and verified in Matlab. The results show that the proposed model predictive control method with adaptive time-domain parameters has higher accuracy for the given trajectory tracking effect.