Spatial-Based Model Predictive Path Following Control for Skid Steering Mobile Robots

被引：0

作者：

Dorbetkhany, Zhan ^{[1
]}

Murbabulatov, Alimzhan ^{[1
]}

Rubagotti, Matteo ^{[1
]}

Shintemirov, Almas ^{[1
,2
]}

机构：

[1] Nazarbayev Univ, Sch Engn & Digital Sci, Astana, Kazakhstan

[2] Aalto Univ, Dept Elect Engn & Automat, Espoo, Finland

来源：

2022 18TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2022) | 2022年

关键词：

skid-steered mobile robot; model predictive control; path following; obstacle avoidance;

D O I：

10.1109/MESA55290.2022.10004456

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.

引用

页数：6

共 50 条

[41] Path Following of Cable Suspended Parallel Robots Through Nonlinear Model Predictive Control
Bettega, Jason
Richiedei, Dario
Tamellin, Iacopo
Trevisani, Alberto
NEW TRENDS IN MECHANISM AND MACHINE SCIENCE, EUCOMES 2024, 2024, 165 : 117 - 124
[42] Sliding Mode Fuzzy Control of a Skid Steer Mobile Robot for Path Following
Nazari, V.
Naraghi, M.
2008 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, VOLS 1-4, 2008, : 549 - 554
[43] Model Predictive Control Based Path Following of an Amphibious Robot
Li, Dongyue
Pan, Jie
Liu, Jincun
Wang, Ming
Yu, Junzhi
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 3990 - 3995
[44] Vision-Based Model Predictive Control for Steering of a Nonholonomic Mobile Robot
Li, Zhijun
Yang, Chenguang
Su, Chun-Yi
Deng, Jun
Zhang, Weidong
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (02) : 553 - 564
[45] Spatial model for path planning of multiple mobile construction robots
Lee, S
Adams, TM
COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING, 2004, 19 (04) : 231 - 245
[46] Cooperative path following control of multiple nonholonomic mobile robots
Cao, Ke-Cai
Jiang, Bin
Yue, Dong
ISA TRANSACTIONS, 2017, 71 : 161 - 169
[47] Flocking, Formation Control, and Path Following for a Group of Mobile Robots
Reyes, Luis Ariel Valbuena
Tanner, Herbert G.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (04) : 1358 - 1372
[48] Path-following control of mobile robots in presence of uncertainties
Coelho, P
Nunes, U
IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (02) : 252 - 261
[49] Backward path-following control of mobile robots with trailers
Huo, Wei
Cheng, Zuan
2006 CHINESE CONTROL CONFERENCE, VOLS 1-5, 2006, : 642 - +
[50] Adaptive Fuzzy Path Following Control for a Nonholonomic Mobile Robots
Shi, Wuxi
Sun, Tao
Ma, Yingxin
Chen, Yuchan
PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 204 - 208

← 1 2 3 4 5 →