Title :
Nonlinear model predictive control for omnidirectional robot motion planning and tracking
Author :
Teatro, Timothy A. V. ; Eklund, J. Mikael
Author_Institution :
Dept. of Electr., Comput. & Software Eng., Univ. of Ontario Inst. of Technol., Oshawa, ON, Canada
Abstract :
We present a nonlinear model predictive control algorithm for online motion planning and tracking of an omnidirectional autonomous robot. The formalism is based on the minimization of a control Hamiltonian related to the cost function. This minimization is constrained by a nonlinear plant model. The algorithm considers point obstacles and uses a potential field to penalize proximity to those obstacles. A simple and demonstrative example simulation is presented.
Keywords :
minimisation; mobile robots; nonlinear control systems; path planning; predictive control; tracking; control Hamiltonian minimization; cost function; nonlinear model predictive control algorithm; nonlinear plant model; omnidirectional autonomous robot tracking; online motion planning; point obstacles; potential field; proximity penalization; Equations; Mathematical model; Minimization; Prediction algorithms; Predictive control; Robots; Vectors; Autonomous; Control; Motion; NMPC; Path; Planning; Tracking;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2013 26th Annual IEEE Canadian Conference on
Conference_Location :
Regina, SK
Print_ISBN :
978-1-4799-0031-2
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2013.6567713
