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Navigation of a Differential Drive Mobile Robot Using Nonlinear Model Predictive Control
(University of Oum El Bouaghi, 2021-05-25) Benchouche, Welid; Mellah, Rabah; Bennouna, Mohammed Salah
In this paper, an implementation of a very fast nonlinear model-based predictive controller using a newly developed open-source toolkit (CasADi) was used to attain the two control goals of differential drive mobile robots, point stabilization (regulation) and trajectory following (time-varying reference). The controller’s stability was assured by the addition of final state equality constraints, which in general require a long optimization horizon for feasibility. In the work presented here, we performed a full-scale simulation proving the applicability of the terminal stabilization equality constraint have been performed. The obstacle avoidance problem has been solved by adding the obstacle position as a constraint in the main optimal control problem.