Experimental study on optimal motion planning of wheeled mobile robot using convex optimization and receding horizon concept

Practical Implementation of Passivity-Based Robust Switching Posture Control of Wheeled Mobile Robots With Model Uncertainty

“…[12] ran experiments to evaluate the performance of nonlinear model predictive control for point stabilization and trajectory tracking of WMR. [13] exhibited an experimental study on optimal motion planning of WMR based on the method of convex optimization and receding horizon. Also, it shows that the optimization algorithm proposed here is quite suitable for real-time motion planning.…”

“…This proposed hybrid control strategy focus on reducing the effort required for modeling the complex systems by approximating the unknown dynamics using input and feedback information of past time instances. Although [9][10][11][12][13][14][15][16][17][18] present the experimental studies of WMR for tracking and posture stabilization based on various control approaches, the practical implementation and experimental investigation of robust switching control (designed based on the 2 nd order dynamics for the posture stabilization of WMR) have not been fully explored. Therefore, this work as a sequel of [1] provides a practical implementation of the control strategy, thus it will be a useful asset in handling the actual execution of a passivity-based switching controller including model uncertainty compensation.…”