Nonlinear model predictive control for omnidirectional robot motion planning and tracking

Autor:	T. Teatro, J. Mikael Eklund
Rok vydání:	2013
Předmět:	Computer Science::Robotics Model predictive control Nonlinear system Control theory Robot Mobile robot Control engineering Minification Motion planning Omnidirectional antenna Autonomous robot Mathematics
Zdroj:	CCECE
DOI:	10.1109/ccece.2013.6567713
Popis:	We present a nonlinear model predictive control algorithm for online 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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6f97cc9fc4a5307a1e265aaffba7c14b https://doi.org/10.1109/ccece.2013.6567713 Zobrazit plný text záznamu