A Transient Response Adjustable MPC for Following A Dynamic Object

As mobile robots increasingly interact with humans, vehicles, and other robots, the ability to follow these dynamic objects becomes a crucial capability. In this paper, a mobile robot motion controller based on a down`scaled Model Predictive Control (MPC) is proposed for performing dynamic object following. The controller can reflect the dynamics of an object for an appropriate response speed while ensuring safety of the robot against predicted risks. In addition, an adaptive prediction time horizon is proposed to improve following robustness. The proposed motion controller is demonstrated through extensive simulations and real-time experiments on mobile robot hardware.