Model predictive control for the tracking of autonomous mobile robot combined with a local path planning

doi:10.1177/00202940211043070

IR > 机电工程学院

	Model predictive control for the tracking of autonomous mobile robot combined with a local path planning
	Li, Jianhua1 ; Sun, Jianfeng 1; Liu, Liqun 2; Xu, Jiasheng 1
	2021-11
发表期刊	MEASUREMENT & CONTROL
ISSN	0020-2940
卷号	54 期号:9-10 页码:1319-1325
摘要	This article presents a model predictive control (MPC) coupled with an artificial potential field (APF) to resolve the trajectory tracking while considering the obstacle avoidance. In this article, the obstacle avoidance problem is solved by a local path planning based on the artificial potential field by constructing a virtual goal. A virtual goal is generated to produce an attractive force to guide the mobile robot to a collision-free space. The planned path is controlled by a proportional-integral-derivative (PID) controller to avoid collision. After arriving at the virtual goal, an off-line explicit MPC is calculated to obtain the optimal control inputs to track the reference trajectory. The simulation results show that the proposed method can be applied to control the mobile robot in the environment with one obstacle.
关键词	Artificial potential function model predictive control obstacle avoidance trajectory tracking
DOI	10.1177/00202940211043070
收录类别	SCIE
语种	英语
WOS研究方向	Automation & Control Systems ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Instruments & Instrumentation
WOS记录号	WOS:000712060700001
出版者	SAGE PUBLICATIONS LTD
来源库	WOS
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/150060
专题	机电工程学院
通讯作者	Xu, Jiasheng
作者单位	1.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China; 2.Zhuzhou Smelter Grp Co Ltd, Zhuzhou, Hunan, Peoples R China
第一作者单位	兰州理工大学
通讯作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Li, Jianhua,Sun, Jianfeng,Liu, Liqun,et al. Model predictive control for the tracking of autonomous mobile robot combined with a local path planning[J]. MEASUREMENT & CONTROL,2021,54(9-10):1319-1325.
APA	Li, Jianhua,Sun, Jianfeng,Liu, Liqun,&Xu, Jiasheng.(2021).Model predictive control for the tracking of autonomous mobile robot combined with a local path planning.MEASUREMENT & CONTROL,54(9-10),1319-1325.
MLA	Li, Jianhua,et al."Model predictive control for the tracking of autonomous mobile robot combined with a local path planning".MEASUREMENT & CONTROL 54.9-10(2021):1319-1325.