We design an MPC approach for non-holonomic mobile robots and analytically show that the time-varying, linearized system can yield asymptotic stability around the origin in the tracking task. For obstacle avoidance, we propose a constraint in velocity-space which explicitly couples the two control inputs based on the current state.

翻译：我们设计了一种针对非超光速组流动机器人的MPC方法,并用分析方式表明时间变化的线性系统可以在跟踪任务来源周围产生无症状的稳定性。 为避免障碍,我们建议对速度空间进行限制,明确将基于当前状态的两种控制输入结合起来。