Spatial-Based Model Predictive Path Following Control for Skid Steering Mobile Robots

Z. Dorbetkhany, A. Murbabulatov, M. Rubagotti, A. Shintemirov

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Abstract

This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
Original languageEnglish
Title of host publicationMESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-6654-5570-1
DOIs
Publication statusPublished - 10 Jan 2023
MoE publication typeA4 Conference publication
EventIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Taipei, Taiwan, Republic of China
Duration: 28 Nov 202230 Nov 2022
Conference number: 18

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated titleMESA
Country/TerritoryTaiwan, Republic of China
CityTaipei
Period28/11/202230/11/2022

Keywords

  • Mechatronics
  • Embedded systems
  • Computational modeling
  • Wheels
  • Kinematics
  • Predictive models
  • Mobile robots
  • skid-steered mobile robot
  • model predictive control
  • path following
  • obstacle avoidance

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