Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control

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

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.

Key words: trajectory planning, multiple constraints, wheeled mobile robot, model predictive control

CLC Number:

TP242

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.

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