Trajectory Tracking and Obstacle Avoidance for Mobile Robot using Laguerre based Model Predictive Control

Trajectory tracking for a differential drive robot is accomplished using Laguerre-based model predictive control. This paper emphasizes obstacle avoidance for the same robot using model predictive control. Simulation results highlight the success of the Laguerre-based approach in both obstacle avoidance and trajectory tracking. Constraints are incorporated within the model predictive control to define the region for obstacle avoidance. The proposed controller’s performance for the differential drive robot is validated through MATLAB simulations.