Title :
A stabilizing receding horizon regulator for nonholonomic mobile robots
Author :
Gu, Dongbing ; Hu, Huosheng
Author_Institution :
Univ. of Essex, Colchester, UK
Abstract :
This paper presents a receding horizon (RH) controller used for regulating a nonholonomic mobile robot. The RH control stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimization constraints. A suboptimal solution to the optimization problem is sufficient to achieve stability. A new terminal-state penalty and its corresponding terminal-state constraints are found. Implementation and simulation results are provided to verify the proposed control strategy.
Keywords :
mobile robots; nonlinear control systems; optimisation; stability; suboptimal control; cost function; nonholomic mobile robots; optimization constraints; receding horizon regulator; stability; suboptimal control; terminal state penalty; Computer science; Dead reckoning; Mobile robots; Navigation; Optical fibers; Regulators; Robot sensing systems; Robot vision systems; Robotics and automation; Stability; Model predictive control (MPC); nonholonomic mobile robots; receding horizon (RH) control;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2005.851357
