Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses

被引：6
|
作者：
Galati, Rocco [1 ]
Mantriota, Giacomo [1 ]
机构：
[1] Polytech Univ Bari, Dept Mech Math & Management, Via Orabona 4, I-70126 Bari, Italy
来源：
ROBOTICS | 2023年 / 12卷 / 03期
关键词：
path planner; routing; non linear predictive control; omnidirectional robot devices;
D O I：
10.3390/robotics12030078
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents results coming from a non-linear model predictive controller used to generate optimized trajectories specifically for an omnidirectional robot equipped with a spraying unit to mark on the floor the perimeter of dangerous areas or to move large palletized goods inside warehouses. Results on different trajectories and with moving obstacles are provided along with considerations on the controller performance.
引用
收藏
页数：16
相关论文
共 50 条
  • [21] Intelligent solution predictive networks for non-linear tumor-immune delayed model
    Anwar, Nabeela
    Ahmad, Iftikhar
    Kiani, Adiqa Kausar
    Shoaib, Muhammad
    Raja, Muhammad Asif Zahoor
    COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING, 2024, 27 (09) : 1091 - 1118
  • [22] A non-linear PID controller for CSTR using local model networks
    Gao, RY
    O'dywer, A
    Coyle, E
    PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4, 2002, : 3278 - 3282
  • [23] Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance
    Sánchez, Ignacio
    D’Jorge, Agustina
    Raffo, Guilherme V.
    González, Alejandro H.
    Ferramosca, Antonio
    Journal of Intelligent and Robotic Systems: Theory and Applications, 2021, 102 (01):
  • [24] Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance
    Sanchez, Ignacio
    D'Jorge, Agustina
    Raffo, Guilherme, V
    Gonzalez, Alejandro H.
    Ferramosca, Antonio
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021, 102 (01)
  • [25] Linear Model Predictive Control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels
    Lafaye, Jory
    Gouaillier, David
    Wieber, Pierre-Brice
    2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2014, : 336 - 341
  • [26] Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance
    Ignacio Sánchez
    Agustina D’Jorge
    Guilherme V. Raffo
    Alejandro H. González
    Antonio Ferramosca
    Journal of Intelligent & Robotic Systems, 2021, 102
  • [27] Non-linear model based predictive control
    Kouvaritakis, B
    Cannon, M
    Rossiter, JA
    INTERNATIONAL JOURNAL OF CONTROL, 1999, 72 (10) : 919 - 928
  • [28] Model predictive control for non-linear missiles
    Hu, X-B
    Chen, W-H
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2007, 221 (I8) : 1077 - 1089
  • [29] Control of a non-linear multivariable system in non-minimum phase by using a neural predictive controller
    Calle Chojeda, Elmer
    Oliden Semino, Jose
    Ipanaque Alama, William
    REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2023, 20 (01): : 32 - 43
  • [30] Mobile Robot Adaptive Trajectory Control Non-linear path model inverse transformation for model reference
    Ramirez-Martinez, O. L.
    Martinez-Garcia, E. A.
    Elara, M. R.
    Sheba, J. K.
    2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 2014, : 877 - 881
12345