Local Model Predictive Control Experiences with Differential Driven Wheeled Mobile Robots

Abstract

This work extends a previously developed research concerning about the use of local
model predictive control in differential driven mobile robots. Hence, experimental results are
presented as a way to improve the methodology by considering aspects as trajectory accuracy and
time performance. In this sense, the cost function and the prediction horizon are important aspects
to be considered. The aim of the present work is to test the control method by measuring
trajectory tracking accuracy and time performance. Moreover, strategies for the integration with
perception system and path planning are briefly introduced. In this sense, monocular image data
can be used to plan safety trajectories by using goal attraction potential fields.