Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot

被引：2

作者：

Bertoncelli, Filippo ^{[1
]}

Ruggiero, Fabio ^{[2
,3
]}

Sabattini, Lorenzo ^{[1
]}

机构：

[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Modena, Italy

[2] Univ Naples Federico II, CREATE Consortium, Via Claudio 21, I-80125 Naples, Italy

[3] Univ Naples Federico II, Dept Elect Engn & Informat Technol, Via Claudio 21, I-80125 Naples, Italy

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 08期

基金：

欧洲研究理事会;

关键词：

Mobile robots; predictive control; manipulation tasks; optimization problems; friction; MANIPULATION;

D O I：

10.1016/j.ifacol.2019.08.043

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Wheel slip may cause a significative worsening of control performance during the movement of a mobile robot. A method to avoid wheel slip is proposed in this paper through a nonlinear model predictive control. The constraints included within the optimization problem limit the force exchanged between each wheel and the ground. The approach is validated in a dynamic simulation environment through a Pioneer 3-DX wheeled mobile robot performing a pushing manipulation of a box. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：25 / 30

页数：6

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