Constraint-Based Model Predictive Control for Holonomic Mobile Manipulators

被引：0
|
作者：
Avanzini, Giovanni Buizza [1 ]
Zanchettin, Andrea Maria [1 ]
Rocco, Paolo [1 ]
机构：
[1] Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Piazza L Da Vinci 32, I-20133 Milan, Italy
来源：
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年
关键词：
FRAMEWORK;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a controller based on constrained optimization for tracking problems in mobile manipulation is presented. A Model Predictive Control problem is set and solved online, allowing to deal with dynamic scenarios and unforeseen events. Besides acceleration, velocity and position constraints, collision avoidance constraints for the mobile base and the arm and Field-of-View constraints have been enforced and extended over the prediction horizon. Navigation performance has been improved by including an additional goal, derived from the classical vortex field approach, to the MPC problem. An experimental validation on a KUKA youBot mobile manipulator has been carried out, showing the online applicability of the presented approach.
引用
收藏
页码：1473 / 1479
页数：7
相关论文
共 50 条
  • [31] Economic model predictive control based on a periodicity constraint
    Wang, Ye
    Ramon Salvador, Jose
    Munoz de la Pena, David
    Puig, Vicenc
    Cembrano, Gabriela
    JOURNAL OF PROCESS CONTROL, 2018, 68 : 226 - 239
  • [32] Physical constraint-based assessment of acceleration control
    Buja, G
    Menis, R
    Sulligoi, G
    IEEE REGION 8 EUROCON 2003, VOL A, PROCEEDINGS: COMPUTER AS A TOOL, 2003, : 405 - 409
  • [33] Nonlinear model predictive control based on constraint transformation
    Kaepernick, Bartosz
    Graichen, Knut
    OPTIMAL CONTROL APPLICATIONS & METHODS, 2016, 37 (04): : 807 - 828
  • [34] Constraint neuro-model based predictive control
    Soufian, M
    Rahman, AA
    Soufian, M
    Mokbel, AA
    APPLICATIONS AND SCIENCE IN SOFT COMPUTING, 2004, : 279 - 286
  • [35] CONSTRAINT-BASED CONTROL OF FLEXIBLE FLOW LINES
    RABAN, S
    NAGEL, RN
    INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 1991, 29 (10) : 1941 - 1951
  • [36] An adaptive non-linear constraint control of mobile manipulators
    Galicki, Miroslaw
    MECHANISM AND MACHINE THEORY, 2015, 88 : 63 - 85
  • [37] Nonlinear model predictive control of trajectory tracking for non-holonomic mobile robots with constraints
    Han, Guang-Xin
    Chen, Hong
    Ma, Miao-Miao
    Zhao, Hai-Yan
    Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2009, 39 (01): : 177 - 181
  • [38] Dynamics and model-based control for mobile modular manipulators
    Liu, YG
    Li, YM
    ROBOTICA, 2005, 23 : 795 - 797
  • [39] Real-time constraint-based planning and control of robotic manipulators for safe human-robot collaboration
    Merckaert, Kelly
    Convens, Bryan
    Nicotra, Marco M.
    Vanderborght, Bram
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2024, 87
  • [40] Constraint-based debugging in probabilistic model checking
    Hichem Debbi
    Computing, 2023, 105 : 321 - 351
12345