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DOI: 10.14569/IJACSA.2017.081136
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Realtime Application of Constrained Predictive Control for Mobile Robot Navigation

Author 1: Ibtissem Malouche
Author 2: Faouzi Bouani

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 8 Issue 11, 2017.

  • Abstract and Keywords
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Abstract: This work addresses the implementation issue of constrained Model Predictive Control (MPC) for the autonomous trajectory-tracking problem. The chosen process to control is a Wheeled Mobile Robot (WMR) described by a discrete, Multiple Input Multiple Output (MIMO), state-space and linear parameter varying kinematic model. The main motivation of the constrained MPC usage in this case relies on its ability in considering, in a straightforward way, control and states constraints that naturally arise in trajectory tracking practical problems. The efficiency of the presented control scheme is validated through experimental results on a two wheeled mobile robot using both STM32F429II and STM32F407ZG microcontrollers. The controller implementation is facilitated by the usage of the automatic C code generation and interesting optimization before real-time execution. Based on the experimental results obtained, the good performance and robustness of the proposed control scheme are established.

Keywords: Embedded C; STM32; microcontrollers; constrained model predictive control; otpimization

Ibtissem Malouche and Faouzi Bouani, “Realtime Application of Constrained Predictive Control for Mobile Robot Navigation” International Journal of Advanced Computer Science and Applications(IJACSA), 8(11), 2017. http://dx.doi.org/10.14569/IJACSA.2017.081136

@article{Malouche2017,
title = {Realtime Application of Constrained Predictive Control for Mobile Robot Navigation},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2017.081136},
url = {http://dx.doi.org/10.14569/IJACSA.2017.081136},
year = {2017},
publisher = {The Science and Information Organization},
volume = {8},
number = {11},
author = {Ibtissem Malouche and Faouzi Bouani}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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