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A stabilizing receding horizon regulator for nonholonomic mobile robots

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2 Author(s)
Dongbing Gu ; Univ. of Essex, Colchester, UK ; Huosheng Hu

This paper presents a receding horizon (RH) controller used for regulating a nonholonomic mobile robot. The RH control stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimization constraints. A suboptimal solution to the optimization problem is sufficient to achieve stability. A new terminal-state penalty and its corresponding terminal-state constraints are found. Implementation and simulation results are provided to verify the proposed control strategy.

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Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 5 )