Spatial-Based Model Predictive Path Following Control for Skid Steering Mobile Robots

Z. Dorbetkhany, A. Murbabulatov, M. Rubagotti, A. Shintemirov

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference article in proceedingsScientificvertaisarvioitu

76 Lataukset (Pure)

Abstrakti

This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed control approach effectively ensures robot convergence to a reference path with minimal deviations. The employed MPPFC parameters are presented for easy repeatability of the presented computation experiments and further utilization of the proposed control framework.
AlkuperäiskieliEnglanti
OtsikkoMESA 2022 - 18th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Proceedings
KustantajaIEEE
Sivumäärä6
ISBN (elektroninen)978-1-6654-5570-1
DOI - pysyväislinkit
TilaJulkaistu - 10 tammik. 2023
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Taipei, Taiwan
Kesto: 28 marrask. 202230 marrask. 2022
Konferenssinumero: 18

Conference

ConferenceIEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
LyhennettäMESA
Maa/AlueTaiwan
KaupunkiTaipei
Ajanjakso28/11/202230/11/2022

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