A unified MPC design approach for AGV path following
Mirko Kokot,Damjan Miklić,Tamara Petrović,Mirko Kokot,Damjan Miklić,Tamara Petrović
This paper presents a unified approach to the design of Model Predictive Controllers (MPC), custom-tailored for path following by Automated Guided Vehicles (AGVs). The approach can be applied in a unified manner to several relevant AGV kinematic configurations, including tricycle, differential, and double steer-drive. By leveraging Linear Parameter Varying (LPV) MPC, it provides maximum maneuverab...
