文章基本信息

标题：Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot
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作者：Filippo Bertoncelli ; Fabio Ruggiero ; Lorenzo Sabattini 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：8
页码：25-30
DOI：10.1016/j.ifacol.2019.08.043
语种：English
出版社：Elsevier
摘要：AbstractWheel 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.
关键词：KeywordsMobile robotspredictive controlmanipulation tasksoptimization problemsfriction