2024/03/12 by Jiawei Tang, Tang, Jiawei, Shuang Wu +13
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.07317
openalex publication_date 2024/03/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering the manifold constraint of the robot configuration. In this letter, we propose a geometric model predictive control (MPC) framework for wheeled mobile robot trajectory tracking. We first derive the error dynamics of the wheeled mobile robot trajectory tracking by considering its manifold constraint and kinematic constraint simultaneously. After that, we utilize the relationship between the Lie group and Lie algebra to convexify the tracking control problem, which enables us to solve the problem efficiently. Thanks to the Lie group formulation, our method tracks the trajectory more smoothly than existing nonlinear MPC. Simulations and physical experiments verify the effectiveness of our proposed methods. Our pure Python-based simulation platform is publicly available to benefit further research in the community.