The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Path Tracking with Nonlinear Model Predictive Control for Differential Drive Wheeled Robot

비선형 모델 예측 제어를 이용한 차동 구동 로봇의 경로 추종

  • Choi, Jaewan (Mechanical Design and Robot Engineering, Graduate School, Seoul National University of Science and Technology) ;
  • Lee, Geonhee (Mechanical Design and Robot Engineering, Graduate School, Seoul National University of Science and Technology) ;
  • Lee, Chibum (Mechanical System & Design Engineering, Seoul National University of Science and Technology)
  • Received : 2020.05.20
  • Accepted : 2020.07.14
  • Published : 2020.08.31
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Abstract

A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.

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References

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