Approximated Nonlinear Predictive Control for Trajectory Tracking of a Wheeled Mobile Robot

In this work the tracking control problem is solved using the approximated nonlinear predictive control and it is combined with artificial potential field for obstacles avoidance capabilities. The potential field approach is used to generate the reference trajectory that the mobile robot tracks to avoid obstacles and to reach the desired target. Nonlinear predictive control is proposed to solve the tracking problem. Taylor approximation is used to overcome the online optimization and asymptotic convergence of the tracking error is ensured. Simulations are performed to validate the proposed navigation algorithm in unknown environment.