An integrated robust probing motion planning and control scheme: A tube-based MPC approach

Abstract

‘This paper introduces the integration of a probing scheme into a robust MPC-based robot motion planning and control algorithm. The proposed solution tackles the output-feedback tube-based MPC problem using the partially-closed loop strategy to incorporate future measurements in a computationally efficient manner. This combination will provide not only a robust controller but also avoids overly conservative planning which is a drawback of the original implementation of the output-feedback tube-based MPC. The proposed solution is composed of two controllers: (i) a nominal MPC controller with probing feature to plan a globally convergent trajectory in conjunction with active localization, and (ii) an ancillary MPC controller to stabilize the robot motion around the planned trajectory. The performance and real-time implementation of the proposed planning and control algorithms have been verified through both extensive numerical simulations and experiments with a mobile robot.