Realtime Application of Constrained Predictive Control for Mobile Robot Navigation

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.

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}
}