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Model predictive control based optimal crusing control of two-wheeled mobile robots

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3 Author(s)
Akiba, S. ; Grad. Sch. of Eng., Mie Univ., Tsu, Japan ; Zanma, T. ; Ishida, M.

This paper describes an optimal crusing control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. The proposed method yields the optimized control strategy while satisfying constraints imposed on input and state. The dynamics is modeled as a mixed logical dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.

Published in:

Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on

Date of Conference:

28-30 June 2010