Static Obstacle Avoidance for Rover Vehicles using Model Predictive Controller

In this paper, a Model Predictive Controller (MPC) is implemented to control and predict the future position, angle, and velocity of Rover Vehicle (RV) for avoiding static obstacle. A communication has been established between IoT device and Rover Vehicle (RV), where real time data has been fetched. In the architecture of these vehicles, there are three basic modules such as perception, network, and application. In the perception module, different types of sensors, such as, Ultrasonic Sensor (US), Lidar Sensor (LS) are embedded in it. In the network, devices such as Bluetooth, Wi-Fi relate to main server. Lastly, Vehicle Global ID is generated for communicating different devices on the application module present here. A Simulink model is created in the MATLAB platform where eight different obstacle cases of variable length and width have been considered. By applying the adaptive property of MPC, position and heading angle is optimized at each instant by considering area of static obstacles. Simulation results show that the proposed MPC, the controller has achieved better performance than other controllers like PID and Model Reference Adaptive Controller (MRAC).