두 이동로봇 시스템의 협동 경로추종을 위한 예측제어기법

This paper presents the problem of steering a group of mobile robots along given reference path while keeping a desired geometrical formation pattern. To solve the problem, formation state variables of a group consisting of two nonholonomic mobile robots are defined as center of the group and pattern of the formation. The control architecture for the two robots is developed based on model predictive control (MPC) scheme. Each robot belonging to the group interacts with the other to achieve their goals: path-following and formation control. Each robot calculates control inputs for prediction horizon and transmits the control inputs to its neighbor. Using the transmitted information, the robot can calculate optimal control input to track the given path while holding a desired formation. The performance of the proposed algorithm is validated by numerical simulations.