| Popis: |
Soft growing robots, which mimic the biological growth of plants, have demonstrated excellent performance in navigating tight and distant environments due to their flexibility and extendable lengths of several tens of meters. However, controlling the position of the tip of these robots can be challenging due to the lack of precise methods for measuring the robots’ Cartesian position in their working environments. Moreover, classical control techniques are not suitable for these robots because they involve the irreversible addition of materials, which introduces process constraints. In this paper, we propose two optimization-based approaches, combining Moving Horizon Estimation (MHE) with Nonlinear Model Predictive Control (NMPC), to achieve superior performance in point stabilization, trajectory tracking, and obstacle avoidance for these robots. MHE is used to estimate the entire state of the robot, including its unknown Cartesian position, based on available configuration measurements. The proposed NMPC approach considers process constraints by relying on the estimated state to ensure optimal performance. We perform numerical simulations using the nonlinear kinematic model of a vine-like robot, one of the newly introduced plant-inspired growing robots, and achieve satisfactory results in terms of reduced computation times and tracking error. |
