Spatial-Based Model Predictive Path Following Control for Skid Steering Mobile Robots

被引：0
|
作者：
Dorbetkhany, Zhan [1 ]
Murbabulatov, Alimzhan [1 ]
Rubagotti, Matteo [1 ]
Shintemirov, Almas [1 ,2 ]
机构：
[1] Nazarbayev Univ, Sch Engn & Digital Sci, Astana, Kazakhstan
[2] Aalto Univ, Dept Elect Engn & Automat, Espoo, Finland
来源：
2022 18TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2022) | 2022年
关键词：
skid-steered mobile robot; model predictive control; path following; obstacle avoidance;
D O I：
10.1109/MESA55290.2022.10004456
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
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页数：6
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