NMPC Based Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots

In this work, a nonlinear model predictive control (NMPC) strategy is presented for trajectory tracking of nonholonomic wheeled mobile robots (WMR). The problem is formulated in the receding horizon framework using the measured information. A detailed kinematic model of WMR is presented to understand the motion of the robot in a plane environment and then the proposed nonlinear model is used for the trajectory tracking control in the NMPC...