Adaptive optimal path planning and nonlinear model predictive control for a nonholonomic ultraflat overrunable mobile robot
Sprache des Titels:
Proceedings of the Austrian Robotics Workshop 2014
In this paper an adaptive optimal path planning in combination with nonlinear model predictive control is presented for trajectory tracking of an ultraflat overrunable mobile robot. As a basis for nonlinear control, the dynamical model of this nonholonomic robotic system, that is used particularly for testing purposes of advanced driver assistance systems, is derived. The aim of this work is to apply model predictive control to minimize the lateral distance between a desired path and the current robot position with respect to physical constraints of the robot. In order to smoothly approach to the desired track, in particular at high velocities, a new path is planned at each sampling instant which heads the mobile robot back on a desired path. This new reference trajectory for the model predictive controller is based on B-Splines, whereby the corresponding control vertices are calculated by means of a quadratic program with respect to minimal curvature. Implementation details as well as sufficient simulation results are shown.