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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

IEEE

Author: Wan, Jian
Quintero Monroy, Christian G.
Luo, Ningsu
Veh铆 i Casellas, Josep
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
Document access: http://hdl.handle.net/2072/66803
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Control intel路ligent
Control predictiu
Robots m貌bils -- 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: Recercat

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