Path Tracking Control of an Omni-Directional Service Robot Based on Model Predictive Control of Adaptive Neural-Fuzzy Inference System

In this paper, model predictive control (MPC) based on an adaptive neural-fuzzy inference system (ANFIS) is proposed to realize of omni-directional service robot in path tracking. The weight the cost function a traditional MPC needs be manually adjusted, and it difficult adjust satisfactory value. order improve performance accuracy MPC, fuzzy trained by ANFIS used adaptively MPC’s reduce error process different simulation experiments are conducted verify algorithm. experimental results show that distance reduced more than 50% under paths compared with angle 70%. Meanwhile, stability increased around 60%. feasibility superiority ANFIS.