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基于MPC的移动机器人轨迹跟踪研究
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Abstract:
针对移动机器人轨迹跟踪问题，提出一种基于模型预测控制(MPC)的跟踪控制方案。首先，对移动机器人运动学模型进行线性化处理，得到其线性预测模型。其次，考虑其输入及状态约束，设计线性二次型控制器，将二次型最优问题转化为二次规划问题求解。基于实时反馈校正，提高了移动机器人轨迹跟踪精度。最后进行了计算机仿真验证，证明了移动机器人轨迹控制系统有效性。
Aiming at the trajectory tracking problem of mobile robot, a tracking control scheme based on model predictive control (MPC) is proposed. Firstly, the kinematic model of the mobile robot is linearized to obtain its linear prediction model. Secondly, considering its input and state constraints, a linear quadratic controller is designed, and the quadratic optimal problem is transformed into a quadratic programming problem. Based on real-time feedback correction, the trajectory tracking accuracy of mobile robot is improved. Finally, computer simulation is carried out to verify the effectiveness of the mobile robot trajectory control system.
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