DocumentCode
1177465
Title
A stabilizing receding horizon regulator for nonholonomic mobile robots
Author
Gu, Dongbing ; Hu, Huosheng
Author_Institution
Univ. of Essex, Colchester, UK
Volume
21
Issue
5
fYear
2005
Firstpage
1022
Lastpage
1028
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;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2005.851357
Filename
1512360
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