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Wan, Jian
Quintero Monroy, Christian G. Luo, Ningsu Vehà i Casellas, Josep |
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| 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 | |
| http://hdl.handle.net/2072/66803 | |
| eng | |
| IEEE | |
| Tots els drets reservats | |
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Control intel·ligent
Control predictiu Robots mòbils -- Sistemes de control Intelligent control systems Mobile robots -- Control systems Predictive control |
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| Predictive motion control of a mirosot mobile robot | |
| info:eu-repo/semantics/article | |
| Recercat |
