基于滚动时域优化的轮式移动机器人路径跟踪问题研究

Receding horizon control for path following problems of wheeled mobile robots

中文关键词  模型预测控制  非线性约束系统  轮式移动机器人  路径跟踪问题

英文关键词  model predictive control  constrained nonlinear systems  wheeled mobile robots  path following problems

中文摘要

      轮式移动机器人是典型的非完整约束系统. 本文基于滚动时域控制策略研究轮式移动机器人的路径跟踪问题. 为了既能够保证移动机器人渐近收敛到期望轨迹, 又能够保证在线求解的优化问题的滚动可行性, 参考轨迹 被选为优化问题中的终端等式约束. 仿真结果验证了所提出的控制策略的有效性.

英文摘要

      A wheeled mobile robot is a system with nonholonomic constraints, which path following problems have been studied intensively. Receding horizon control for path following problems of wheeled mobile robots is considered in this paper, where the reference path is chosen as the terminal region. Both the asymptotic convergence to the reference path and recursive feasibility of the involved optimization problem are investigated. The effectiveness of the applied control strategy is verified by simulation results.