Receding horizon control for path following problems of wheeled mobile robots
LIU Yang
YU Shu-you
GUO Yang
GAO Bing-zhao
CHEN Hong
Abstract：A wheeled mobile robot is a system with nonholonomic constraints, which path following problems have been studied intensively. Receding horizon control for path following problems of wheeled mobile robots is considered in this paper, where the reference path is chosen as the terminal region. Both the asymptotic convergence to the reference path and recursive feasibility of the involved optimization problem are investigated. The effectiveness of the applied control strategy is verified by simulation results.
Keywords：model predictive controlconstrained nonlinear systemswheeled mobile robotspath following problems
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 424-432 )