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Mobile Robot Local Predictive Control under Perception Constraints

This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platform used is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields

© International Journal of Factory Automation, Robotics and Soft Computing (ITA), 2007, p.273-281

International Society for Advanced Research

Autor: Pacheco Valls, Lluís
Luo, Ningsu
Ferrer Vila, Jordi
Data: 2007
Resum: This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platform used is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields
Format: application/pdf
Accés al document: http://hdl.handle.net/10256/8541
Llenguatge: eng
Editor: International Society for Advanced Research
Col·lecció: Reproducció digital del document publicat a:
Articles publicats (D-ATC)
És part de: © International Journal of Factory Automation, Robotics and Soft Computing (ITA), 2007, p.273-281
Drets: Tots els drets reservats
Matèria: Visió per ordinador
Computer vision
Control predictiu
Predictive control
Robots mòbils -- Sistemes de control
Mobile robots -- Control systems
Títol: Mobile Robot Local Predictive Control under Perception Constraints
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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