MPC-based control architecture of an autonomous wheelchair for indoor environments

作者：Bardaro Gianluca; Bascetta Luca; Ceravolo Eugenio; Farina Marcello^*; Gabellone Mauro; Matteucci Matteo

来源：Control Engineering Practice, 2018, 78: 160-174.

DOI：10.1016/j.conengprac.2018.06.020

• Autonomous vehicle
• Unicycle (also denoted differential-drive) model
• Model predictive control
• Ambient assisted living
• Autonomous wheelchair

In this paper a linear MPC control scheme is proposed to address the motion problems of an autonomous wheelchair in a realistic environment. Thanks to an inner feedback-linearizing loop, the formulation of the model predictive control problem is simplified, allowing for a real-time computationally-efficient implementation. Thanks to the MPC framework, constraints like obstacle avoidance, actuator limitations, and passenger comfort have been included in the optimization problem. Experimental results show the effectiveness of the proposed scheme.

• 出版日期2018-9