Nonlinear Model Predictive Control for Omnidirectional Robot Motion Planning and Tracking With Avoidance of Moving Obstacles

Nonlinear Model Predictive Control for Omnidirectional Robot Motion Planning and Tracking With Avoidance of Moving Obstacles

This paper presents a nonlinear model predictive control algorithm for online motion planning and tracking of an omnidirectional autonomous robot. The formalism is based on a Hamiltonian minimization to optimize a control path as evaluated by a cost function. This minimization is constrained by a no...

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Veröffentlicht in:Canadian journal of electrical and computer engineering 2014-06, Vol.37 (3), p.151-156
Hauptverfasser: Teatro, Timothy A. V., Eklund, J. Mikael, Milman, Ruth
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Computer simulation
Cost function
Mathematical models
Minimization
Mobile robots
Moving obstacles
Nonlinearity
Optimization
Predictive control
Robot kinematics
Robots
Trajectory
Vectors
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creator Teatro, Timothy A. V.
Eklund, J. Mikael
Milman, Ruth
description This paper presents a nonlinear model predictive control algorithm for online motion planning and tracking of an omnidirectional autonomous robot. The formalism is based on a Hamiltonian minimization to optimize a control path as evaluated by a cost function. This minimization is constrained by a nonlinear plant model, which confines the solution space to those paths which are physically feasible. The cost function penalizes tracking error, control amplitude, and the presence in a potential field cast by moving obstacles and Boards. An experiment is presented demonstrating the successful navigation of a field of stationary obstacles. Simulations are presented demonstrating that the algorithm enables the robot to react dynamically to moving obstacles.
doi_str_mv 10.1109/CJECE.2014.2328973
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subjects Algorithms
Computer simulation
Cost function
Mathematical models
Minimization
Mobile robots
Moving obstacles
Nonlinearity
Optimization
Predictive control
Robot kinematics
Robots
Trajectory
Vectors
title Nonlinear Model Predictive Control for Omnidirectional Robot Motion Planning and Tracking With Avoidance of Moving Obstacles
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