Implementation of MPC for trajectory tracking in an omnidirectional mobile robot
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12237Keywords:
Linear parameter varying, Embedded control systems, Mobile robots, Model predictive control, Trajectory trackingAbstract
This work presents a control architecture for a three-wheeled omnidirectional mobile robot, experimentally validated on the Robotino 4 platform. The solution avoids the use of ROS (Robot Operating System) by delegating the computation of the predictive controller to an externalMATLAB workstation, which communicates with the robot via TCP/IP (Transmission Control Protocol/Internet Protocol). The robot runs a C++ program that receives velocity commands and sends odometry data to the control station. An LPV-MPC (Linear Parameter Varying Model Predictive Control) scheme is implemented to simultaneously regulate the position of the robot (x, y) and orientation (θ), while explicitly considering constraints on velocity, acceleration and position. The model is linearized in real time, enabling trajectory tracking under realistic conditions. The solution has been validated using an oval reference trajectory, demonstrating good performance and bounded tracking errors. The proposed architecture is modular and scalable, and can be extended to include dynamic environment planning or future integration with ROS 2.
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Copyright (c) 2025 Elena Villalba-Aguilera, Joaquim Blesa, Pere Ponsa
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
