Abstract
AbstractThis paper studies the formation tracking control of differential wheeled mobile robots with velocity input constraints and acceleration constraints. Firstly, according to the mechanical characteristics of the differential mobile robots, a type of coupled velocity constraints and acceleration constraints is proposed, which is named as the double-rhombus constraints. Then, the tracking error equation of mobile robots is obtained through the Taylor expansion and forward difference. By transforming the double-rhombus constraints into linear constraints of the optimization problem, the formation tracking control of mobile robots with double-rhombus constraints is carried out by the linear model predictive control. Finally, the simulation results verify the effectiveness of the proposed control algorithm.KeywordsDouble-rhombus constraintWheeled mobile robotLinear model predictive controlFormation tracking
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