Realtime Application of Constrained Predictive Control for Mobile Robot Navigation

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.

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