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

共 50 条

[31] Sampled-data tracking under model predictive control and multi-rate planning [J].

Elobaid, Mohamed ;

Mattioni, Mattia ;

Monaco, Salvatore ;

Normand-Cyrot, Derothee .

IFAC PAPERSONLINE, 2020, 53 (02) :3620-3625

[32] A Dual-Arm Robot Cooperation Framework Based on a Nonlinear Model Predictive Cooperative Control [J].

Zhao, Xingwei ;

Zhang, Yuhao ;

Ding, Wenzheng ;

Tao, Bo ;

Ding, Han .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024, 29 (05) :3993-4005

[33] Design, motion planning and control of frozen shoulder rehabilitation robot [J].

Jung-Yup Kim ;

Un-Je Yang ;

Kiwon Park .

International Journal of Precision Engineering and Manufacturing, 2014, 15 :1875-1881

[34] Discrete abstractions for robot motion planning and control in polygonal environments [J].

Belta, C ;

Isler, V ;

Pappas, GJ .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (05) :864-874

[35] Design, motion planning and control of frozen shoulder rehabilitation robot [J].

Kim, Jung-Yup ;

Yang, Un-Je ;

Park, Kiwon .

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2014, 15 (09) :1875-1881

[36] Nonlinear Model Predictive Path Tracking Control for Autonomous Vehicles Based on Orthogonal Collocation Method [J].

Zhu, Guozhu ;

Jie, Hao ;

Hong, Weirong .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2023, 21 (01) :257-270

[37] Nonlinear Model Predictive Path Tracking Control for Autonomous Vehicles Based on Orthogonal Collocation Method [J].

Guozhu Zhu ;

Hao Jie ;

Weirong Hong .

International Journal of Control, Automation and Systems, 2023, 21 :257-270

[38] Model predictive control-based tracking controller for hybrid-driven underwater legged robot [J].

Zhang, Guangjie ;

Yan, Weisheng ;

Cui, Rongxin ;

Ma, Feiyu .

IET CONTROL THEORY AND APPLICATIONS, 2024, 18 (18) :2646-2659

[39] Planning and control of a biped robot [J].

Lum, HK ;

Zribi, M ;

Soh, YC .

INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE, 1999, 37 (10) :1319-1349

[40] Predictive Position Control for Precision Motion Systems Using Intelligent Prediction Model With Nonlinear Disturbance [J].

Huang, Su-Dan ;

Liufu, Rong ;

Cao, Guang-Zhong ;

Wu, Chao ;

Xu, Junqi ;

He, Jiangbiao .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2025, 72 (07) :7231-7241

← 1 2 3 4 5 →