Minimax Robust RHC Method for Two Mobile Robots Cooperative Carrying Task Problem

摘要

In this paper, a robust receding horizon control (RHC) method and its application to a cooperative carrying task problem by two mobile robots is discussed. In the problem, a following robot must be controlled autonomously and it should hold constraint conditions of relative position against structured uncertainties and bounded disturbances anytime. Then the proposed robust RHC method is based on the minimax optimization with bounded constraint conditions. The proposed method generates the velocity and direction angle adequately to hold the conditions. A numerical example is shown to demonstrated the effectiveness of the method.