Benchouche, WelidMellah, RabahBennouna, Mohammed Salah2024-03-122024-03-122021-05-25978-9931-9788-0-0http://dspace.univ-oeb.dz:4000/handle/123456789/18728In 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.enNonholonomic robot; regulation; trajectory tracking; navigation; nonlinear model predictive.Article