The Control Design for Trajectory Tracking of Four-wheeled Mobile Robot using Model Predictive Control: A Preliminary Study

DOI

10.2991/icst-18.2018.106How to use a DOI?

Keywords

model predictive control, mobile robot, trajectory tracking

Abstract

The mobile robot is one of the Unmanned Vehicle that belongs to Unmanned Ground Vehicle (UGV) which has the ability to be remotely controlled. The advancement in navigation has enabled new opportunity to send the UGV to explore new area or disaster mitigation. The path is set with the help of digital imaging of a certain area, then the mobile robot is expected to follow the path. In this paper, we conduct a simulation of four-wheeled mobile robot trajectory tracking. We design a control for trajectory tracking using the Model Predictive Control approach. By simulating for some values of control and reference, the simulation shows that the control design for the trajectory tracking in four wheeled mobile robots need some improvement.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dimas Maulana
AU  - Yusuf Fuad
AU  - Yuliani Puji Astuti
PY  - 2018/12
DA  - 2018/12
TI  - The Control Design for Trajectory Tracking of Four-wheeled Mobile Robot using Model Predictive Control: A Preliminary Study
BT  - Proceedings of the International Conference on Science and Technology (ICST 2018)
PB  - Atlantis Press
SP  - 508
EP  - 511
SN  - 2589-4943
UR  - https://doi.org/10.2991/icst-18.2018.106
DO  - 10.2991/icst-18.2018.106
ID  - Maulana2018/12
ER  -