Model predictive motion control of autonomous forklift vehicles with dynamics balance constraint

Abstract

In this paper, a model predictive control is developed for motion planning and control of nonholonomic autonomous forklifts. The proposed model predictive motion control (MPMC) determines the control inputs for tracking a desired path through minimising path-following error, subject to nonholonomic and dynamic balance constraints of the forklift. MPMC also automatically adjusts the tracking velocity and acceleration to traverse the path as fast as possible without violating constraints while minimising the tracking error. In order to facilitate the real-time implementation of MPMC for industrial applications, a successive online linearisation of the nonlinear discrete-time kinematic model of..