A trajectory tracking and obstacle avoidance approach for nonholonomic mobile robots based on model predictive control

In this paper, aiming at the trajectory tracking problem of the nonholonomic mobile robot with static obstacles, a simultaneous trajectory tracking and obstacle avoidance method based on the model predictive control (MPC) is proposed. First, a quadratic cost function is calculated to obtain the optimal tracking error in the trajectory tracking controller. Then, the obstacle avoidance region is established, and the optimal obstacle avoidance direction is determined according to the location parameters of the robot, the reference trajectory and obstacles. Finally, simulation results are provided to show the effectiveness of the control method.