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Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

© World Automation Congress : 2004 : Proceedings, 2004, vol. 15, p. 325-330

IEEE

Author: Wan, Jian
Quintero Monroy, Christian G.
Luo, Ningsu
Vehí, Josep
Date: 2004
Abstract: This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model
Format: application/pdf
Citation: Wan, J., Quintero, C.G., Luo, N., i Vehí, J. (2004). Predictive motion control of a mirosot mobile robot. World Automation Congress : 2004 : Proceedings, 15, 325-330. Recuperat 18 juny 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1438572
ISBN: 1-889335-21-5
Document access: http://hdl.handle.net/10256/2670
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/WAC.2004.185240
Articles publicats (D-EEEiA)
Is part of: © World Automation Congress : 2004 : Proceedings, 2004, vol. 15, p. 325-330
Rights: Tots els drets reservats
Subject: Control intel·ligent
Control predictiu
Robots mòbils -- Sistemes de control
Intelligent control systems
Mobile robots -- Control systems
Predictive control
Title: Predictive motion control of a mirosot mobile robot
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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