MPC-based control architecture of an autonomous wheelchair for indoor environments

In this paper a linear MPC control scheme is proposed to address the motion problems of an autonomous wheelchair in a realistic environment. Thanks to an inner feedback-linearizing loop, the formulation of the model predictive control problem is simplified, allowing for a real-time computationally-efficient implementation. Thanks to the MPC framework, constraints like obstacle avoidance, actuator limitations, and passenger comfort have been included in the optimization problem. Experimental results show the effectiveness of the proposed scheme.