Path-Following Model Predictive Control of Ballbots

被引：0

作者：

Jespersen, Thomas K. ^{[1
,2
]}

al Ahdab, Mohammad ^{[1
]}

Mendez, Juan de Dios F. ^{[1
]}

Damgaard, Malte R. ^{[1
]}

Hansen, Karl D. ^{[1
]}

Pedersen, Rasmus ^{[1
]}

Bak, Thomas ^{[1
]}

机构：

[1] Aalborg Univ, Dept Elect Syst, Aalborg, Denmark

[2] nuTonomy, APTIV, Singapore, Singapore

来源：

2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年

关键词：

D O I：

10.1109/icra40945.2020.9196634

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplified version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is extended to handle nearby obstacles directly in the MPC formulation. The presented controller is validated through simulation on a high fidelity model as well as through real-world experiments on a physical ballbot system.

引用

页码：1498 / 1504

页数：7

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