Implementation of the trajectory controller based on model predictive controlfor unmanned ground vehicle

Implementation of the trajectory controller based on model predictive controlfor unmanned ground vehicle

Alexander A. Tachkov
PhD in Technical Sciences, Federal State Budgetary Educational Institution of Higher Education «Bauman Moscow State Technical University» (BMSTU), Science and Educational Center «Robotics», Department «Automated transport systems», Head of Department, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-8330-8750

Alexey V. Kozov
BMSTU, Science and Educational Center «Robotics», Department «Automated transport sys-tems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-9997-0386

Semion Yu. Kurochkin
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Junior Research Scientist, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-8659-7191

Dmitriy S. Iakovlev
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6999-407X

Nikita A. Buzlov
BMSTU, Science and Educational Center «Robotics», Department «Automated transport sys-tems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-0723-6812

Received 30 September 2021

Abstract
This paper is devoted to one implementation of a trajectory controller based on model predictive control for an un-manned ground vehicle (UGV). The statement of the problem of autonomous movement along a given trajectory, the assumptions and restrictions adopted are presented. The features of the application of model predictive control for solving the problem are described. A feature of the proposed implementation of the trajectory controller is the use of a linearized chassis dynamics model to predict the position of the robot after a given period of time and control the movement without solving the optimal control problem. To determine the parameters of the dynamic model of the robotic complex, taking into account the drive level, the identification problem was solved, as a result of which two linear models with delay were obtained, describing the dynamics of the longitudinal movement and rotation of the robot. The experiment showed that the obtained models provide high compliance with experimental data, while the robot moves on a surface with a constant coefficient of friction. An algorithm for calculating the predicted position, a block diagram of the trajectory controller and its software implementation are described. The implemented trajectory controller provides autonomous movement of an UGV in an industrial-urban environment or in slightly rugged terrain.

Key words
Unmanned ground vehicle, UGV, navigation, ROS, model predictive control, system identification, control system synthesis, trajectory following, dynamics model.

DOI
10.31776/RTCJ.10105

Bibliographic description
Tachkov, A. et al., 2022. Implementation of the trajectory controller based on model predictive controlfor unmanned ground vehicle. Robotics and Technical Cybernetics, 10(1), pp.43-54.

UDC identifier:
681.51:62-503.54

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