NMPC Based Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots

摘要

In this work, a nonlinear model predictive control (NMPC) strategy is presented for trajectory tracking of nonholonomic wheeled mobile robots (WMR). The problem is formulated in the receding horizon framework using the measured information. A detailed kinematic model of WMR is presented to understand the motion of the robot in a plane environment and then the proposed nonlinear model is used for the trajectory tracking control in the NMPC framework. A receding horizon optimization problem is solved in a novel way to design the control inputs (translational and angular velocities) which are used to force the system trajectories to track the reference signals. Simulation results are presented to show the effectiveness of the proposed strategy.