predictive control of a mobile robot

Abstract

Mobile robots include multiple applications, outdoor mobile robots work in varied environments, In this work, we are interested in designing a controller of fast outdoor mobile robots, which allows the robot moving in a natural environment with a high speed and tracking a reference trajectory.The dynamic model was developed, which take into account sliding of the wheels, and is considered an important condition in the modeling process, the projection of the vehicle position in the absolute coordinate system is used to define the kinematic model.We present a new approach to solving a tracking path problem by applying nonlinear continuous-time generalized predictive control (NCGPC). The controller is based on the dynamic model of the vehicle. The prediction model allows anticipating the future behavior of the system according to the dynamic constraints of the system. The simulation results showed great accuracy in control and strength in track tracing with the ability to cope with changes in the environment and the condition of the robot, which means that this approach is robust.