Omnidirectional Vehicle Control Based On Model Predictive Control

With the development of robotics,the omnidirectional vehicle is attached more and more attention because of its flexibility and strong maneuverability.Moreover,the motion control of omnidirectional vehicle has become one of the important research directions in the field of robotics.In this paper,model predictive control is applied to motion of omnidirectional vehicle,and model predictive control algorithm is used to design the trajectory tracking controller and the formation controller of the omnidirectional vehicle.For timeliness of the trajectory tracking control and the limited communication of formation control,the main research contents in this article are as follows:First of all,according to the requirements of the omnidirectional vehicle design,the STM32F4 microcontroller,FPGA processors,motor drive and other hardware circuits are integrated to design and produce the circuit board,and the double row alternate wheel is used to establish the vehicle in this paper.Secondly,in order to solve the trajectory tracking control problem of single omnidirectional vehicle,the trajectory tracking control algorithm is built based on the trajectory tracking error model.In this paper,the model predictive control which generates an optimization problem at every moment is used as the control strategy.The speed of solving the optimization problem is an important factor that determines the performance of the model predictive controller.Therefore,the thesis adopts the proximal gradient method to solve the optimization problem so as to improve the calculation speed,and establishes simulation experiments and actual experiments to verify the effectiveness of the proposed algorithm.Finally,in view of the formation control problem,the paper adopts the trajectory tracking strategy to construct the formation control algorithm,and uses model predictive control as control strategy.In addition,the leader-followers method and virtual structure approach are combined to establish formation control algorithm in this paper.On account of the communication limit during the process of formation,the inexact proximal gradient method based on quantizers is used to solve the optimization problem of the formation control algorithm,which guarantees that the formulation converge to the optimal solution under the premise of limited communications.In the end,the simulation experiment is established to verify the effectiveness of the proposed algorithm.