Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control

Authors

You Bo, 1. Harbin University of Science and Technology, Harbin 150080, China;;
Mingrui Wang, 1. Harbin University of Science and Technology, Harbin 150080, China;;
Li Zhi, 1. Harbin University of Science and Technology, Harbin 150080, China;;
Ding Liang, 2. Harbin Institute of Technology, Harbin 150080, China;

Abstract

Abstract: Aiming at the underactuation of the Wheeled Mobile Robot (WMR) and considering the various limitations and constraints during the actual operation, a trajectory planning method based on the Model Predictive Control (MPC) is proposed.This method can deal with the kinematics constraints, physical constraints and obstacle avoidance constraints unifiedly and effectively. It can generate the feasible trajectories that conform to the characteristics of the car body model and satisfy the various constraints. It fully guarantees the feasibility, safety and efficiency of the autonomous driving of wheeled mobile robots. The simulation results fully verify the effectiveness of the proposed method.

Recommended Citation

Bo, You; Wang, Mingrui; Zhi, Li; and Liang, Ding (2020) "Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control," Journal of System Simulation: Vol. 32: Iss. 4, Article 6.
DOI: 10.16182/j.issn1004731x.joss.18-0476
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss4/6

First Page

591

Revised Date

2018-11-29

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0476

Last Page

600

CLC

TP242

Recommended Citation

You Bo, Wang Mingrui, Li Zhi, Ding Liang. Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control[J]. Journal of System Simulation, 2020, 32(4): 591-600.

DOI

10.16182/j.issn1004731x.joss.18-0476