Abstract
The paper is focused on trajectory tracking of differential drive mobile robot. The mathematical model of dynamics and kinematics of the mobile robot is considered, based on first principle approach. The dynamic behaviour of engines and chassis, coupling between engines and wheels and basic geometric dimensions are taken into consideration. Reference tracking of linear and angular velocities are achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variable, manipulated variable as well as state variables. Simulation results are provided to demonstrate the performance of proposed control strategy in MATLAB simulation environment.
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Acknowledgments
This research was supported by project SGSFEI_2015007, New modelling and identification methods for Model Predictive Control at FEI, University of Pardubice. This support is very gratefully acknowledged.
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Rahul Sharma, K., Honc, D., Dušek, F. (2015). Model Predictive Control of Trajectory Tracking of Differentially Steered Mobile Robot. In: Abraham, A., Jiang, X., Snášel, V., Pan, JS. (eds) Intelligent Data Analysis and Applications. Advances in Intelligent Systems and Computing, vol 370. Springer, Cham. https://doi.org/10.1007/978-3-319-21206-7_8
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DOI: https://doi.org/10.1007/978-3-319-21206-7_8
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