A Robust Probing Motion Planning Scheme: A Tube-based MPC Approach

This paper discusses the efficacy of a robust probing motion planning scheme. The proposed solution relies on i) tube-based MPC from the set-theoretic framework to ensure the robustness, and ii) the partially-closed loop strategy from stochastic MPC to incorporate the future measurement and increase the cautiousness of the control systems. More precisely, the proposed solution is composed of two controllers: one nominal MPC controller that guarantees the trajectory to be globally convergent and probing, and one ancillary MPC controller that stabilizes the robot around the nominal optimal trajectory. The feasibility and performance of the proposed algorithm have been demonstrated through extensive numerical simulation for a two-wheeled mobile robot.