Predictive control of mobile robot using kinematic and dynamic models

DOI10.1155/2017/5341381MaRDI QIDQ1794182zbMATH OpenOpenAlexFDO

Authors Manel Mendili, Faouzi Bouani

Publication date 15 October 2018

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/5341381

zbMATH Keywords

kinematic and dynamic modelsomnidirectional mobile robotpredictive control

Mathematics Subject Classification ID

Linear-quadratic optimal control problems (49N10) Sampled-data control/observation systems (93C57) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.

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Cites work

• Model predictive control. With a foreword by M. J. Grimble and M. A. Johnson
• Simultaneous Tracking and Stabilization of Mobile Robots: An Adaptive Approach

Cited in

(8)

• Predictive control with velocity observer for cushion robot based on PSO for path planning
• Modeling and optimal control of omni-directional mobile robots
• Autonomous mobile robot proprioceptive navigation and predictive trajectory tracking
• Autonomous mobile robot model predictive control
• Artificial Intelligence and Soft Computing - ICAISC 2004
• Trajectory tracking of coordinated multi-robot systems using nonlinear model predictive control
• Dual-mode model predictive control of wheeled mobile stages robots
• Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots

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