Trajectory Tracking based on Adaptive Weights Receding Horizon Control by Differential Drive Robot

In this paper, an adaptive weights receding horizon control (AWRHC) for trajectory tracking of a robot is presented. Because of the physical constraints of the robot, the conventional receding horizon control (RHC) may result in some perturbations from the reference trajectory when it is near the desired trajectory. The adaptive weights adjust the preferences for the way-points selected from the reference trajectory. The simulation results of RHC were compared with AWRHC for straight and circular trajectory tracking. The evaluation of both RHC strategies were carried out by Grey Wolf Optimizer (GWO). The AWRHC approach significantly reduces perturbations which results in quicker path following with lower path transverse at the cost of negligible increase in computation time.