@inproceedings{9be79d77a84a44ce97c102a96cb9e41f,
title = "Trajectory Tracking based on Adaptive Weights Receding Horizon Control by Differential Drive Robot",
abstract = "In this paper, an adaptive weights receding horizon control (AWRHC) for trajectory tracking of a robot is presented. Because of the physical constraints of the robot, the conventional receding horizon control (RHC) may result in some perturbations from the reference trajectory when it is near the desired trajectory. The adaptive weights adjust the preferences for the way-points selected from the reference trajectory. The simulation results of RHC were compared with AWRHC for straight and circular trajectory tracking. The evaluation of both RHC strategies were carried out by Grey Wolf Optimizer (GWO). The AWRHC approach significantly reduces perturbations which results in quicker path following with lower path transverse at the cost of negligible increase in computation time.",
keywords = "Adaptive Control, Adaptive Weights, Model Predictive Control, Path Following, Receding Horizon Control, Trajectory Tracking",
author = "Verma, {Samidha Mridul} and Rahul Ravichandran and Rahul Singhal and Rajesh Kumar",
note = "Publisher Copyright: {\textcopyright} 2020 The Society of Instrument and Control Engineers - SICE.; 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020 ; Conference date: 23-09-2020 Through 26-09-2020",
year = "2020",
month = sep,
day = "23",
language = "English",
series = "2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1343--1348",
booktitle = "2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020",
address = "United States",
}