Motion planning of four-wheeled omnidirectional robots in a NMPC framework

This work presents a safe navigation of mobile autonomous robot, more specifically, four-wheeled omnidirectional robot. The contribution lies in applying an NMPC (Nonlinear Model Predictive Control) for the two different dynamic models of four-wheeled omnidirectional robot in the specified working space. Some important criteria such as computational time, length of trajectory and the capacity of obstacle avoidance are used to compare through simulation with the goal of sticking out which dynamic model is the best in a specified context.