Navigation of a Differential Drive Mobile Robot Using Nonlinear Model Predictive Control
| dc.contributor.author | Benchouche, Welid | |
| dc.contributor.author | Mellah, Rabah | |
| dc.contributor.author | Bennouna, Mohammed Salah | |
| dc.date.accessioned | 2024-03-12T18:12:50Z | |
| dc.date.available | 2024-03-12T18:12:50Z | |
| dc.date.issued | 2021-05-25 | |
| dc.description.abstract | 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. | |
| dc.identifier.isbn | 978-9931-9788-0-0 | |
| dc.identifier.uri | http://dspace.univ-oeb.dz:4000/handle/123456789/18728 | |
| dc.language.iso | en | |
| dc.publisher | University of Oum El Bouaghi | |
| dc.subject | Nonholonomic robot; regulation; trajectory tracking; navigation; nonlinear model predictive. | |
| dc.title | Navigation of a Differential Drive Mobile Robot Using Nonlinear Model Predictive Control | |
| dc.type | Article |
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