Tracking Control and State Estimation of a Mobile Robot based on NMPC and MHE

Paper in proceeding, 2016

This paper discusses on providing optimization-based solutions to the state estimation and tracking control problems arise in mobile robotics. Estimation problem is solved using Moving Horizon Estimation (MHE) approach and Nonlinear Model Predictive Control (NMPC) is used for solving the tracking control problem. The proposed approaches are compared against other two common techniques for state estimation and control. The methods are successfully implemented in simulation. The real time feasibility of the proposed controller is discussed.