Application of Iterative LQR on a Mobile Robot With Simple Dynamics

TL;DR

This paper applies the iterative Linear Quadratic Regulator (iLQR) to control a differential mobile robot with simple dynamics, demonstrating its advantages over traditional LQR through simulation studies.

Contribution

It provides a detailed implementation and evaluation of iLQR on a mobile robot with non-holonomic constraints, comparing its performance to standard LQR.

Findings

iLQR improves control accuracy over LQR in simulations

The method is explicitly formulated and implemented in Matlab/Simulink

Simulation results validate the effectiveness of iLQR for nonlinear robot control

Abstract

The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As follows up, this work intends to concertize this statement and to evaluate the extent to which the performance is comparatively improved against the ordinary, non-iterative LQR. The method is applied to a differential robot with non-holonomic constraints. The mathematical equations, resulting description and the implementation of this method are explicitly explained, and the simulation studies are conducted in the Matlab and Simulink environment.