NONLINEAR MODEL PREDICTIVE CONTROL FOR OMNIDIRECTIONAL ROBOT MOTION PLANNING AND TRACKING

被引：0

作者：

Teatro, Timothy A. V. ^{[1
]}

Eklund, J. Mikael ^{[1
]}

机构：

[1] Univ Ontario, Dept Elect Comp & Software Engn, Inst Technol, Oshawa, ON L1H 7K4, Canada

来源：

2013 26TH ANNUAL IEEE CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE) | 2013年

关键词：

NMPC; Control; Motion; Path; Tracking; Planning; Autonomous;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

We present a nonlinear model predictive control algorithm for on-line motion planning and tracking of an omnidirectional autonomous robot. The formalism is based on the minimization of a control Hamiltonian related to the cost function. This minimization is constrained by a nonlinear plant model. The algorithm considers point obstacles and uses a potential field to penalize proximity to those obstacles. A simple and demonstrative example simulation is presented.

引用

页码：227 / 230

页数：4

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