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IJMERR 2022 Vol.11(6): 379-388
DOI: 10.18178/ijmerr.11.6.379-388

Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS

Hiep Do Quang 1, Thang Le Tran 2, Tien Ngo Manh 3, Cuong Nguyen Manh 4, Toan Nguyen Nhu 4, and Nam Bui Duy 5
1. University of Economics-Technology for Industries, Hanoi, Vietnam
2. Controls, Automation in Production and Improvement of Technology Institute Hanoi, Vietnam
3. Institute of Physics, Vietnam Academy of Science and Technology, Hanoi, Vietnam
4. Hanoi University of Science and Technology, Hanoi, Vietnam
5. VNU University of Engineering and Technology, Hanoi, Vietnam

Abstract—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.

Index Terms—Nonlinear Model Predictive Control (NMPC), Omni robot, trajectory tracking, navigation, Robot Operating System (ROS)

Cite: Hiep Do Quang, Thang Le Tran, Tien Ngo Manh, Cuong Nguyen Manh, Toan Nguyen Nhu, and Nam Bui Duy, "Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 6, pp. 379-388, June 2022. DOI: 10.18178/ijmerr.11.6.379-388

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