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Testing PID and MPC Performance for Mobile Robot Local Path-Following

This paper outlines the online performance of a control law based on PID (proportional-integral-derivative) controllers and MPC (model predictive control) for mobile robot local path-following. Both techniques share the use of a set of different dynamic models. PID controllers are used for controlling the speed of the robot鈥檚 wheels, while high level algorithms compute the necessary wheel speeds in order to generate a motion that approaches the vehicle towards the desired path. Meanwhile, local MPC is implemented by computing the horizon of suitable coordinates that arise from the set of command input combinations. Therefore, command speeds that correspond to the desired point are obtained by minimizing a cost function in which the population of the available coordinates is taken into account

SAGE Publications

Author: Pacheco Valls, Llu铆s
Luo, Ningsu
Abstract: This paper outlines the online performance of a control law based on PID (proportional-integral-derivative) controllers and MPC (model predictive control) for mobile robot local path-following. Both techniques share the use of a set of different dynamic models. PID controllers are used for controlling the speed of the robot鈥檚 wheels, while high level algorithms compute the necessary wheel speeds in order to generate a motion that approaches the vehicle towards the desired path. Meanwhile, local MPC is implemented by computing the horizon of suitable coordinates that arise from the set of command input combinations. Therefore, command speeds that correspond to the desired point are obtained by minimizing a cost function in which the population of the available coordinates is taken into account
Document access: http://hdl.handle.net/2072/272834
Language: eng
Publisher: SAGE Publications
Rights: Attribution 3.0 Spain
Rights URI: http://creativecommons.org/licenses/by/3.0/es/
Subject: Robots m貌bils
Mobile robots
Control predictiu
Predictive control
Control autom脿tic
Automatic control
Title: Testing PID and MPC Performance for Mobile Robot Local Path-Following
Type: info:eu-repo/semantics/article
Repository: Recercat

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