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

fYear

2013

fDate

5-8 May 2013

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2013 26th Annual IEEE Canadian Conference on

Conference_Location

Regina, SK

ISSN

0840-7789

Print_ISBN

978-1-4799-0031-2

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2013.6567713

Filename

6567713