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本文简要介绍了移动机器人的路径控制问题 ,并根据广义预测控制的概念提出了运动预测控制方法 ,对移动机器人非线性模型使用了中间变量及 EKF位置估计结果来实现预测控制
In this paper, we briefly introduce the path control problem of mobile robot and put forward the motion predictive control method based on the concept of generalized predictive control. The nonlinear model of mobile robot uses the intermediate variables and EKF position estimation results to achieve predictive control