This article introduces a new control methodology to intelligently drive the motion of a mobile robot via given waypoints. A nonlinear model predictive controller (NMPC) is utilized to track the waypoints that are placed randomly at different positions in a given environment. Hence, various tracking paths can be generated based on locations of waypoints. Additionally, a Quadratic Bezier Curves algorithm has been applied for obstacle avoidance. It is combined with the NMPC via a switching mechanism. Hence, the transportation of the mobile robot will take the priority of avoiding obstructing obstacles if exist before moving forward to the next target waypoint. Single and multiple mobile robots have been simulated into several scenarios to investigate the performance of the developed control scheme.

中文翻译：

---

使用非线性模型预测控制器和二次贝塞尔曲线算法通过航点对移动机器人进行智能控制

本文介绍了一种新的控制方法，可通过给定的航点智能地驱动移动机器人的运动。非线性模型预测控制器 (NMPC) 用于跟踪在给定环境中随机放置在不同位置的航路点。因此，可以基于航点的位置生成各种跟踪路径。此外，还应用了二次贝塞尔曲线算法来避障。它通过交换机制与 NMPC 结合。因此，移动机器人的运输将优先避开障碍物，然后再向前移动到下一个目标航路点。单个和多个移动机器人已被模拟到多个场景中，以研究开发的控制方案的性能。