Reactive Trajectory Tracking For Mobile Robots Based on Non Linear Model Predictive Control

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Reactive Trajectory Tracking For Mobile Robots Based on Non Linear Model Predictive Control •A motion model is used to compute on-line optimal M- step-ahead control sequences •Obstacles are avoided by incorporating range-sensor data into the numerical optimization •Simulation results indicate that complex maneuvers can be tracked among obstacles in real-time Stavros G. Vougioukas Agricultural Engineering Laboratory, Faculty of Agriculture, Aristotle University of Thessaloniki, Greece Fishtail maneuver and deformation due to obstacle

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Reactive Trajectory Tracking For Mobile Robots Based on Non Linear Model Predictive Control. Stavros G. Vougioukas Agricultural Engineering Laboratory, Faculty of Agriculture, Aristotle University of Thessaloniki, Greece. - PowerPoint PPT Presentation

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Reactive Trajectory Tracking For Mobile RobotsBased on Non Linear Model Predictive Control

• A motion model is used to compute on-line optimal M-step-ahead control sequences

• Obstacles are avoided by incorporating range-sensor data into the numerical optimization

• Simulation results indicate that complex maneuvers can be tracked among obstacles in real-time

• Performance in the presence of sensor noise and model uncertainty must be investigated

Stavros G. VougioukasAgricultural Engineering Laboratory, Faculty of Agriculture,

Aristotle University of Thessaloniki, Greece

Fishtail maneuver and deformation due to obstacle

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