A Simplified-Model Predictive Controller Design for a Four-Wheel Omnidirectional Robot
摘要
This study introduces a model-based predictive controller to drive an omnidirectional robot to a specific location within a logistic environment. An object map is obtained from a LIDAR sensor. The proposed control structure enhances the safety, optimality, and efficiency of the trajectory of the omnidirectional mobile robot. The study employs simulation techniques of the kinematics and dynamics of the robot to assess the efficacy of a predictive control approach.