Safe Model Predictive Control Approach for Non-holonomic Mobile Robots

07/26/2022

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by   Xinjie Liu, et al.

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We design an MPC approach for non-holonomic mobile robots and analytically show that the time-varying, linearized system can yield asymptotic stability around the origin in the tracking task. For obstacle avoidance, we propose a constraint in velocity-space which explicitly couples the two control inputs based on the current state.