自動芝刈ロボットのモデル予測制御

抄録

In this paper, we investigate the control law concerning trajectory tracking for an independent drive two wheeled automatic lawn mowing robot. Model predictive control that excels in followability and returnability to path is applied to nonlinear model with nonholonomic constraint. We proposed a method that can realize prompt reduction of the error in the restraint direction in path return which is important for automatic lawn mowing. Conducted an experiment in the actual machine for the proposed method, it was confirmed that the excellent control performance in comparison with the PID control can be obtained.