A Nonlinear Model Predictive Control of an Omni-Directional Mobile Robot

This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.

[1]  William W. Hager,et al.  Algorithm 851: CG_DESCENT, a conjugate gradient method with guaranteed descent , 2006, TOMS.

[2]  William W. Hager,et al.  A New Conjugate Gradient Method with Guaranteed Descent and an Efficient Line Search , 2005, SIAM J. Optim..

[3]  R. Fletcher.  Practical Methods of Optimization , 1988 .

[4]  B. Svaiter,et al.  A steepest descent method for vector optimization , 2005 .

[5]  E.F. Camacho,et al.  Low time-consuming implementation of predictive path-tracking control for a "synchro-drive" mobile robot , 1998, AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354).

[6]  Xingquan Zhu,et al.  Predictive fuzzy control for a mobile robot with nonholonomic constraints , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[7]  Stephen Piche,et al.  Nonlinear model predictive control using neural networks , 2000 .

[8]  Eduardo F. Camacho,et al.  Neural network MBPC for mobile robot path tracking , 1994 .

[9]  Dongbing Gu,et al.  Neural predictive control for a car-like mobile robot , 2002, Robotics Auton. Syst..

[10]  Eduardo F. Camacho,et al.  Model Predictive Controllers , 2007 .

[11]  C. M. Reeves,et al.  Function minimization by conjugate gradients , 1964, Comput. J..

[12]  J. Shewchuk.  An Introduction to the Conjugate Gradient Method Without the Agonizing Pain , 1994 .

[13]  Benjamin C. Kuo,et al.  AUTOMATIC CONTROL SYSTEMS , 1962, Universum:Technical sciences.

[14]  Eduardo F. Camacho,et al.  Nonlinear MBPC for mobile robot navigation using genetic algorithms , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).