Motion control of mobile robots with Particle Filter Model Predictive Equilibrium Point Control
Stefano Primatesta, Basilio Bona · 2017
This paper describes an optimal motion control for mobile robots with differential drive. We propose a novel method called Particle Filter Model Predictive Equilibrium Point Control (PF-MPEPC) that implements robot navigation with obstacle avoidance in a structured environment. This control evaluates the near future behaviour continuously to generate an optimal trajectory that is safe and smooth.