Tube-basedモデル予測制御による移動ロボットの動的障害物回避

抄録

This paper gives a method of dynamic obstacle avoidance for a mobile robot with uncertain slips of the wheels. The control strategy is divided into two parts. The first part is the trajectory generation to avoid dynamic obstacles by solving a problem of mixed integer programming. The second part is the trajectory tracking of the mobile robot by tube-based model predictive control. Since the trajectory tracking error system includes a time-varying term due to the uncertain slips, this paper regards this term as disturbance and adopts the reachable sets with respect to the error to reduce the original constraints into tighter ones. As a result, the trajectory tracking error system does not violate the original constraints, which implies that the mobile robot can be expected to run with avoiding the obstacles. Numerical examples and experiments show the effectiveness of the method of dynamic obstacle avoidance for the mobile robot.