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  • 【文献07】基于MPC的WMR点镇定-极坐标系下和轨迹跟踪

    参考:

    Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.

    Point Stabilization for Wheeled Mobile Robots Using Model  Predictive Control

    Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.

    https://drive.wps.cn/mine/28717934032


    【1】Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.

    运动学模型

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    MPC控制-无终端项

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    MPC控制-加入终端项

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    MPC控制-极坐标系下

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    【2】Point Stabilization for Wheeled Mobile Robots Using Mode Predictive Control  

     


    【3】Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.

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    圆形仿真

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    8字形

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    平行泊车

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  • 原文地址:https://www.cnblogs.com/mohuishou-love/p/10539638.html
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