This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well known that such a system can not be feedback stabilized by a smooth time-invariant control law. By using model predictive control (MPC), an appropriate control law is implicitly obtained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The optimization problem is solved by quadratic programming (QP) and experimental results show that the control law computation can be performed under the system real-time requirements.
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