Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot

Contributo in Atti di convegno

Data di Pubblicazione:

2019

Citazione:

Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot / Bertoncelli, Filippo; Ruggiero, Fabio; Sabattini, Lorenzo. - 52:8(2019), pp. 25-30. ( 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV) Gdansk, Poland 2019) [10.1016/j.ifacol.2019.08.043].

Abstract:

Wheel slip may cause a significative worsening of control performance during the movement of a mobile robot. A method to avoid wheel slip is proposed in this paper through a nonlinear model predictive control. The constraints included within the optimization problem limit the force exchanged between each wheel and the ground. The approach is validated in a dynamic simulation environment through a Pioneer 3-DX wheeled mobile robot performing a pushing manipulation of a box. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Tipologia CRIS:

Relazione in Atti di Convegno

Keywords:

Mobile robots; predictive control; manipulation tasks; optimization problems; friction

Elenco autori: