Relative localization and tracking control in multirobot systems using MHE and NMPC

Mohammed Mehrez

Memorial University of Newfoundlan

Friday, October 31, 2014, 11:30 - 12:30

Room 02-014, Georges-Koehler-Allee 103, Freiburg 79110, Germany

The study develops a relative localization method to achieve relative tracking control in Multi-Robot System’s (MRS’s), where one or more robots are located and commanded to follow time varying trajectories with respect to another robot reference frame. The nonlinear and constrained motion and measurement models in MRS’s are incorporated to achieve an accurate state estimation algorithm based on nonlinear Moving Horizon Estimation (MHE) and a tracking control method based on Nonlinear Model Predictive Control (NMPC). The study implements the proposed relative localization and tracking control algorithm by numerical simulations and real-time experiments.