Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control

Abstract

In this paper, we propose a novel coordinated path following controller based on model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure approach where the entire formation is considered as a rigid body and the control laws for a virtual leader vehicle and for actual follower robots are optimized by considering the dynamics of the virtual structure and the desired motion of each vehicle. Besides, we also fulfill time convergence for trajectory tracking by integrating an additional penalty term into our model predictive control scheme. However, the major concern in the use of model predictive control is whether such an open-loop control scheme can guarantee system stability. In this case, we apply the idea of a contractive constraint to guarantee the stability of our MPC framework. Although our approach is centralized, numerous simulation scenarios have been conducted to illustrate its effectiveness and its superior performance for a small group of mobile robots. Furthermore, we show that path following control can offer a number of advantages over its trajectory tracking counterpart.