Application of Model Predictive Control to Trajectory Tracking of Mecanum Wheels

The paper builds a ROS-based Gazebo simulation environment. The move_base function package provides reference trajectory and vehicle position information to the MPC controller which calculates a series of future optimal speed information and publishes the current optimal speed to the PID controller. The PID controller corrects the vehicle speed information to ensure that the vehicle body accurately reaches the required vehicle speed. After experiments, the scheme proposed in this paper is proved a feasible way to implement accurate and quick trajectory tracking control in the simulation environment.