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
收藏
页码：227 / 230
页数：4
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