Ros-based mobile robot pid and mpc control

Abstract

In this study, a Robot Operating System (ROS) based Mecanum-wheeled mobile robot is designed for two algorithms developed scheme, one is a Proportional-Integral- Derivative (PID) control algorithm directly implemented into the online controller firmware, and the other hand is a Model Predictive Control (MPC) algorithm implemented on an independent PC for a remote control. In the PID control algorithm, ultrasonic distance detection is used to keep the vehicle running parallelly along a wall. In the MPC algorithm, the vehicle is able to run according to planned paths and create the map by Lidar SLAM. In the paper, the real implementation of the system is detailed practical experiment validations.