A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.

Abstract
1. 서 론
2. 차동 구동형 로봇
3. MPC 경로추종과 네비게이션
    3.1 MPC 경로 추종을 위한 최적화 문제
    3.2 ROS를 활용한 MPC 경로 추종과 네비게이션 구현
4. 시뮬레이션 및 실험 검증
    4.1 시뮬레이션
    4.2 실제 환경 네비게이션
5. 결 론
References

• 최재완(Mechanical Design and Robot Engineering, Graduate School, Seoul National University of Science and Technology) | Jaewan Choi
• 이건희(Mechanical Design and Robot Engineering, Graduate School, Seoul National University of Science and Technology) | Geonhee Lee
• 이치범(Mechanical System & Design Engineering, Seoul National University of Science and Technology) | Chibum Lee Corresponding author