【摘要】 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更多还原

【Abstract】 This paper presents the problems of the path control for mobile robots. A method of motion predictive control based on Generalized Predictive Control(GPC) is presented. For the nonlinear model of the mobile robots, the intermediate state variables and estimation results from a Extended Kalman Filter(EKF) are used to implement the predictive control.更多还原