Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

被引：116
|
作者：
Wang, Chengcheng [1 ,2 ,3 ]
Liu, Xiaofeng [1 ,2 ,3 ]
Yang, Xianqiang [4 ]
Hu, Fang [5 ]
Jiang, Aimin [1 ,2 ,3 ]
Yang, Chenguang [6 ]
机构：
[1] Hohai Univ, Coll IoT Engn, Changzhou 213022, Peoples R China
[2] Hohai Univ, Changzhou Key Lab Robot & Intelligent Technol, Changzhou 213022, Peoples R China
[3] Hohai Univ, Jiangsu Key Lab Special Robots, Changzhou 213022, Peoples R China
[4] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150080, Heilongjiang, Peoples R China
[5] Changzhou Vacat Inst Engn, Sch Electromech & Automobile Engn, Changzhou 213164, Peoples R China
[6] South China Univ Technol, Coll Automat Sci & Engn, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R China
来源：
APPLIED SCIENCES-BASEL | 2018年 / 8卷 / 02期
关键词：
omni-directional mobile robot (OMR); kinematics model; model predictive control; point stabilization; trajectory tracking; MPC;
D O I：
10.3390/app8020231
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm with control and system constraints is designed to achieve point stabilization and trajectory tracking. Simulation results validate the accuracy of the established kinematics model and the effectiveness of the proposed MPC controller.
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收藏
页数：15
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