Improved SLTV-MPC for Epidemic Prevention Robots Based on Artificial Potential Field

Path tracking control and obstacle avoidance are key technologies in the development of intelligent epidemic prevention robots. In order to solve the problem of poor real-time path tracking control of intelligent epidemic prevention robots, this paper designs a path tracking controller based on Steer linear time-varying model predictive control (SLTV-MPC). The artificial potential field is introduced, and the dynamic model of intelligent epidemic prevention robots is established according to motion state of intelligent epidemic prevention robots. Design and improvement of a linear time-varying model predictive controller for steering based on model predictive control. The comprehensive performance of the designed path tracking controller is remarkable, and the path control accuracy and real-time obstacle avoidance ability are significantly improved, which helps to improve the stability of path tracking and obstacle avoidance of the intelligent epidemic prevention robots.