Realtime Application of Constrained Predictive Control for Mobile Robot Navigation
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2017, Vol 8, Issue 11
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.
Authors and Affiliations
Ibtissem Malouche, Faouzi Bouani
Keywords
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- EP ID EP240760
- DOI 10.14569/IJACSA.2017.081136
- Views 93
- Downloads 0
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