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Real-Time Robotic Navigation with Smooth Trajectory Using Variable Horizon Model Predictive Control
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DOI：10.3390/electronics15030603.png)
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摘要
En 中文
This study addresses the challenges of real-time performance, safety, and trajectory smoothness in robot navigation by proposing an innovative variable-horizon model predictive control (MPC) scheme that utilizes evolutionary algorithms. To effectively adapt to the complex and dynamic conditions during navigation, a constrained multi-objective evolutionary algorithm is used to tune the control parameters precisely. The optimized parameters are then used to dynamically adjust the MPC’s prediction horizon online. To further enhance the system’s real-time performance, warm start and multiple shooting techniques are introduced, significantly improving the computational efficiency of the MPC. Finally, simulation and real-world experiments are conducted to validate the effectiveness of the proposed method. Experimental results demonstrate that the proposed control scheme exhibits excellent navigation performance in differential-drive robot models, offering a novel solution for intelligent mobile robot navigation.
Keyword:
model predictive control
NSGA-II
navigation
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期刊
IF:
2.6
论文数:
1.1W
被引数:
4.7W
机构
引用论文
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