Trajectory Tracking of Wheeled Soccer Robots Based on Model Predictive Control

This paper addresses the trajectory tracking problem for soccer robots which can be simplified as two-wheeled robots. The kinematics analysis of the soccer robot is performed and a kinematics model is established. Due to the under-actuation of the robot and constraints of both the field and the soccer robot itself, Model Predictive Control (MPC) is applied in trajectory tracking control. The MPC strategy can be transformed to a constrained quadratic programming (QP) problem and the optimal control sequences for trajectory tracking is obtained by solving the QP problem online. Simulation experiments are designed to verify the control performance of the MPC controller.