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.

引用

页数：15

共 50 条

[21] A Tracking Method of an Assembling Omni-directional Mobile Robot
Ye, Changlong
Jiang, Xiduo
Yu, Suyang
Jiang, Chunying
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, : 1029 - 1033
[22] An Intelligent Fuzzy Control Scheme for Mechatronic Model of a Standard-Wheeled Omni-Directional Mobile Robot
Jamali, Pouya
Sohrabi, Omid
Tabatabaei, S. M.
Seifipour, Navid
2013 3RD INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA), 2013, : 249 - 254
[23] Trajectory tracking of Omni-directional Mobile Robots via Predictive Control plus a Filtered Smith Predictor
Santos, Jessivaldo
Conceicao, Andre G. S.
Santos, Tito L. M.
IFAC PAPERSONLINE, 2017, 50 (01): : 10250 - 10255
[24] Tracking and localization for omni-directional mobile industrial robot using reflectors
Shuai Guo
Ting-Ting Fang
Tao Song
Feng-Feng Xi
Bang-Guo Wei
Advances in Manufacturing, 2018, 6 : 118 - 125
[25] Tracking and localization for omni-directional mobile industrial robot using reflectors
Guo, Shuai
Fang, Ting-Ting
Song, Tao
Xi, Feng-Feng
Wei, Bang-Guo
ADVANCES IN MANUFACTURING, 2018, 6 (01): : 118 - 125
[26] Fast and Precise Positioning of Wheeled Omni-directional Robot With Input Delay Using Model-based Predictive Control
Zarghami, Mahdi
Fakharian, Ahmad
Poudeh, Amin Ganjali
Adhami-Mirhosseini, Aras
2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 7800 - 7804
[27] Integrated control and navigation for omni-directional mobile robot based on trajectory linearization
Liu, Yong
Williams, Robert L., II
Zhu, J. Jim
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 4976 - +
[28] Motion Planning Implemented in ROS for Omni-directional Wheeled Mobile Robot
Yin, Jingchun
Yang, Guilin
Zhao, Fei
Qiu, Hongli
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, : 2695 - 2700
[29] An amendatory dynamic model with slip for four-wheeled omni-directional mobile robot
Cao Qixin
Huang Yanwen
Leng Chuntao
ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2, 2008, 6794
[30] GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking
Tang, Jiawei
Wu, Shuang
Lan, Bo
Dong, Yahui
Jin, Yuqiang
Tian, Guangjian
Zhang, Wen-An
Shi, Ling
IEEE ROBOTICS AND AUTOMATION LETTERS, 2024, 9 (05): : 4822 - 4829

← 1 2 3 4 5 →