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
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