Trajectory Tracking of the Mixed conventional/braking Actuation Mobile robots using Model Predictive Control

摘要

In this paper a trajectory tracking controller for a Mixed conventional/braking Actuation Mobile Robot (MAMR) is presented. The MAMR was designed to study the use of brakes in steering mobile robots that suffer from primary actuation failure. The MAMR design may also solve some common drawbacks of the conventional mobile robots such as control complexity, weight, and cost. This paper proposes a model predictive control approach to solve the trajectory tracking problem for the MAMR. The desired trajectories between two points are pre-generated using a quintic polynomial under curvature constraints. The dynamical model of the robot is used to solve the MPC problem. The effectiveness of the proposed control algorithm is tested through simulation.