TY - GEN
T1 - Spatial-Based Model Predictive Path Following Control for Skid Steering Mobile Robots
AU - Dorbetkhany, Zhan
AU - Murbabulatov, Alimzhan
AU - Rubagotti, Matteo
AU - Shintemirov, Almas
N1 - Funding Information:
This work was funded under the Kazakhstan Ministry of Science and Higher Education Young Researchers’ grant project #08052091 and the Nazarbayev University under the faculty-development competitive research grants project for 2021-2023 #021220FD1751. Projects PI - A. Shintemirov Corresponding author: A. Shintemirov.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
AB - This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
KW - model predictive control
KW - obstacle avoidance
KW - path following
KW - skid-steered mobile robot
UR - https://www.scopus.com/pages/publications/85146868196
UR - https://www.scopus.com/pages/publications/85146868196#tab=citedBy
U2 - 10.1109/MESA55290.2022.10004456
DO - 10.1109/MESA55290.2022.10004456
M3 - Conference contribution
AN - SCOPUS:85146868196
T3 - MESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
BT - MESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2022
Y2 - 28 November 2022 through 30 November 2022
ER -