A new explicit dynamic path tracking controller using generalized predictive control

Regular Papers Robot and Applications
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Abstract

Outdoor mobile robots must perform operations with ever-increasing speed and distance. Therefore we are interested in designing controllers of fast rovers which improve mobile robot capacity in natural environment. When designing autonomous path tracking systems for fast rovers, a major problem is the dynamic effect and the non-linearity of the model. Several control laws have been designed to resolve the problem by separating the dynamic of the robot at the problem of trajectory tracking.

This paper presents a path tracking controller for a fast rover with independent front and rear steering. In the first step, a dynamic model of a vehicle that moves on a horizontal plane was developed. Next, the projection of the position of the vehicle in the absolute reference frame was used to define the kinematics non-linear model. We present a new approach to solving a tracking path problem by applying Non-linear Continuous-time Generalized Predictive Control (NCGPC). The controller is based on the dynamic model of a bicycle like vehicle which considers the lateral slippage of the wheels. The prediction model allows anticipation of future changes in setpoints in accordance with the dynamic constraints of the system. Experimental results, show a good control accuracy and appears to be robust with respect to environmental and robot state changes.

Keywords

Mobile robot modeling nonlinear continuous-time generalized predictive control path tracking 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Industrial Engineering Department, College of EngineeringKing Saud University - KSURiyadhSaudi Arabia
  2. 2.Sorbonne UniversitésUPMC Univ Paris 06, UMR 7222, ISIR, F-75005, Paris and CNRS UMR 7222 PARIScedex 05France
  3. 3.Irstea - Institut national de Recherche en Sciences et Technologies pour l’Environnement et l’AgricultureAubière cedexFrance

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