Motion Predictive Control Of Omni-directional Mobile Robot

Time delay refers to a period of time from giving to performing the command. It is a frequent problem when mobile robot functions. Especially when there is high requirement for control accuracy and real time, time delay influences the control effect and accuracy of mobile robots very much.This report aiming at time delay problem occurs in the motion control of mobile robots, and according to motion rule of omni-directional mobile robots, chose Generalized Predictive Control which is easy computed on line and has good robust, and introduce it into the motion control of omni-directional mobile robots with four wheels to solve the problem of time delay. The dissertation applies Generalized Predictive Control. Meanwhile, aiming at control errors when information noise is big, it proposes generalized predictive motion control based on Smith's Predictor, adopting compensative method for control prediction with open loop to counteract the influence of information noise over control accuracy. The effectiveness of the method was demonstrated by simulation and experiments based on system of Robocup small size robot soccer system.Moreover, this report focus on the motion character of the omni-directional mobile robot, proposes an efficient path plan and conducts in the best way to disperse it in order to put it into the practice of Generalized Predictive Control of omni-directional mobile robots according to motion rule of omni-directional mobile robots.