Model Predictive Control of Four-wheel-Differential-Drive Vehicles Based on Modified Active Set Algorithm

Since the automatic guided vehicle (AGV) can replace human in warehousing or logistics, the trajectory tracking of the AGV has attracted lots of attentions for decades. Among the understudy tracking algorithm, the MPC-based is very popular at present. We thus consider the trajectory tracking of a four-wheel-differential-drive vehicle by MPC. However, solving the MPC is time-consuming. To this end, we propose a modified active-set algorithm to solve the involved MPC problem. The algorithm only needs solving two subproblems. The first subproblem is the one with the most and independent equality constraints. The second subproblem is obtained via neglecting all constraints with negative Lagrange multiplier of the first one. The results of the simulation illustrates that the time consumption of the modified active-set algorithm is less than that of the interior-point algorithm and the active-set algorithm due to the reduction of calculation times.