Testing PID and MPC Performance for Mobile Robot Local Path-Following
dc.contributor.author
dc.date.accessioned
2017-02-08T09:21:53Z
dc.date.available
2017-02-08T09:21:53Z
dc.date.issued
2015-11-05
dc.identifier.issn
1729-8806
dc.identifier.uri
dc.description.abstract
This paper outlines the online performance of a control law based on PID (proportional-integral-derivative) controllers and MPC (model predictive control) for mobile robot local path-following. Both techniques share the use of a set of different dynamic models. PID controllers are used for controlling the speed of the robot's wheels, while high level algorithms compute the necessary wheel speeds in order to generate a motion that approaches the vehicle towards the desired path. Meanwhile, local MPC is implemented by computing the horizon of suitable coordinates that arise from the set of command input combinations. Therefore, command speeds that correspond to the desired point are obtained by minimizing a cost function in which the population of the available coordinates is taken into account
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
SAGE Publications
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.5772/61312
dc.relation.ispartof
International Journal of Advanced Robotic Systems, 2015, vol. 12, núm. 11
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Attribution 3.0 Spain
dc.rights.uri
dc.subject
dc.title
Testing PID and MPC Performance for Mobile Robot Local Path-Following
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
023830
dc.identifier.eissn
1729-8814