Dynamic Model Based Predictive Control For Mobile Robots

ANDRÉS ROSALES; MIGUEL PEÑA; GUSTAVO SCAGLIA; VICENTE MUT; FERNANDO DI SCIASCIO

Río Gallegos Santa Cruz Argentina

Congreso; XII Reunion de Trabajo en Procesamiento de la Información y Control; 2007

A nonlinear predictive controller (NMPC) is developed to control a unicycle-like mobile robot for trajectory tracking. A dynamic model of a PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on the control actions and the system states are also considered. Simulations results at both tracking and regulation (positioning) are shown, these results show the good performance of the developed controller. Finally, this paper shows that the controller can be implemented in real-time by using an analysis of the calculating times of the NMPC algorithm.