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
  • [41] Non-linear PID controller using neural networks
    Matsukuma, T
    Fujiwara, A
    Namba, M
    Ishida, Y
    1997 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS, VOLS 1-4, 1997, : 811 - 814
  • [42] Fuzzy model predictive control of non-linear processes using genetic algorithms
    Sarimveis, H
    Bafas, G
    FUZZY SETS AND SYSTEMS, 2003, 139 (01) : 59 - 80
  • [43] Small Unmanned Helicopter Autorotation using Non-linear Model Predictive Control
    Dalamagkidis, Konstantinos
    Valavanis, Kimon P.
    Piegl, Les A.
    49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, : 6350 - 6357
  • [44] Efficient non-linear model based predictive control
    Cannon, M
    Kouvaritakis, B
    Lee, YI
    Brooms, AC
    INTERNATIONAL JOURNAL OF CONTROL, 2001, 74 (04) : 361 - 372
  • [45] On robust tracking with non-linear model predictive control
    Magni, L
    INTERNATIONAL JOURNAL OF CONTROL, 2002, 75 (06) : 399 - 407
  • [46] Generalized predictive control with a non-linear autoregressive model
    Vychodil, H
    Schmidt, M
    Nepevny, P
    Pivonka, P
    Proceedings of the 7th WSEAS International Conference on Automatic Control, Modeling and Simulation, 2005, : 363 - 367
  • [47] Generalized predictive control with a non-linear autoregressive model
    Vychodil, H
    Schmidt, M
    Nepevny, P
    Pivonka, P
    Proceedings of the 7th WSEAS International Conference on Automatic Control, Modeling and Simulation, 2005, : 85 - 89
  • [48] A prototype for industrial non-linear model predictive control
    Desforges, MJ
    Woolley, IS
    Sandoz, DJ
    INTEGRATING DYNAMICS, CONDITION MONITORING AND CONTROL FOR THE 21ST CENTURY - DYMAC 99, 1999, : 215 - 220
  • [49] An intelligent optimization controller for a non-linear system: Application to an injection molding machine
    Liang, J. M.
    E-ENGINEERING & DIGITAL ENTERPRISE TECHNOLOGY, 2008, 10-12 : 884 - 888
  • [50] Intelligent digital redesign of fuzzy controller for non-linear systems with packet losses
    Koo, Geun Bum
    Park, Jin Bae
    Joo, Young Hoon
    IET CONTROL THEORY AND APPLICATIONS, 2016, 10 (03): : 292 - 299
12345