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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’s 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, Lluís
Luo, Ningsu
Date: 2018 June 5
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’s 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/2072/319364
Language: eng
Publisher: SAGE Publications
Rights: Attribution 3.0 Spain
Rights URI: http://creativecommons.org/licenses/by/3.0/es/
Subject: Robots mòbils
Mobile robots
Control predictiu
Predictive control
Control automàtic
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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