This paper presents the development of a MPC architecture for an autonomous wheelchair, that aims at reaching a desired goal while considering physical actuator limitations, obstacle avoidance and comfort constraints. The controller has been designed in such a way that it can be easily applied to an existing commercial wheelchair, without the need for a redesign of the on-board motor controllers. Moreover, thanks to the introduction of an inner feedback linearizing loop, a linear MPC has been considered, allowing for an efficient real-time implementation of the control system. The experimental results show the effectiveness of the proposal, and demonstrate that MPC can be considered a promising control approach to develop autonomous vehicles.

Model Predictive Control of an autonomous wheelchair

Farina, Marcello;Bascetta, Luca;Matteucci, Matteo
2017-01-01

Abstract

This paper presents the development of a MPC architecture for an autonomous wheelchair, that aims at reaching a desired goal while considering physical actuator limitations, obstacle avoidance and comfort constraints. The controller has been designed in such a way that it can be easily applied to an existing commercial wheelchair, without the need for a redesign of the on-board motor controllers. Moreover, thanks to the introduction of an inner feedback linearizing loop, a linear MPC has been considered, allowing for an efficient real-time implementation of the control system. The experimental results show the effectiveness of the proposal, and demonstrate that MPC can be considered a promising control approach to develop autonomous vehicles.
2017
Proceedings 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, Toulouse, France.
2405-8963
Autonomous wheelchair; model predictive control; obstacle avoidance; Control and Systems Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1039767
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