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
Related Articles
- EP ID EP240760
- DOI 10.14569/IJACSA.2017.081136
- Views 103
- Downloads 0
Behavior of the Minimum Euclidean Distance Optimization Precoders with Soft Maximum Likelihood Detector for High Data Rate MIMO Transmission
The linear closed loop Multiple-input Multiple-output (CL-MIMO) precoding techniques characterized by the channel state information knowledge (CSI), at both sides of the link, aims to improve information throughput and r...
Video Authentication using PLEXUS Method
Digital Video authentication is very important issue in day to day life. A lot of devices have got the ability of recording or capturing digital videos and all these videos can be passed through the internet as well as m...
An Analysis of Encryption and Decryption Application by using One Time Pad Algorithm
Security of data in a computer is needed to protect critical data and information from other parties. One way to protect data is to apply the science of cryptography to perform data encryption. There are wide variety of...
Optimized Field Oriented Control Design by Multi Objective Optimization
Permanent Magnet Synchronous Motors are popular electrical machines in industry because they have high efficiency, low ratio of weight/power and smooth torque with no or less ripple. In addition to this, control of sync...
Fuzzy Risk-based Decision Method for Vehicular Ad Hoc Networks
A vehicular ad hoc network (VANET) is an emerging technology that has the potential to improve road safety and traveler comfort. In VANETs, mobile vehicles communicate with each other for the purpose of sharing various k...