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Authors: Martin Seyr and Stefan Jakubek

Affiliation: Vienna University of Technology, Institute of Mechanics and Mechatronics, Austria

Keyword(s): mobile robot, trajectory tracking, nonholonomic system, nonlinear predictive control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: For a two-wheeled differentially driven mobile robot a trajectory tracking concept is developed. A trajectory is a time-indexed path in the plane, i.e. in the three-dimensional configuration space consisting of position and orientation. Due to the nonholonomic nature of a rolling wheel, the system cannot be stabilized by a continuous time-invariant feedback or by feedback linearization. A novel approach taken in this paper to solve the nonholonomic control problem consists of nonlinear predictive control in conjunction with linear state space control with integration of the control error. Based on a Gauss-Newton algorithm, predicted future position errors are minimized by numerical computation of an optimal sequence of control inputs using prespecified shape functions.

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Paper citation in several formats:
Seyr, M. and Jakubek, S. (2005). MOBILE ROBOT PREDICTIVE TRAJECTORY TRACKING. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 112-119. DOI: 10.5220/0001184001120119

@conference{icinco05,
author={Martin Seyr. and Stefan Jakubek.},
title={MOBILE ROBOT PREDICTIVE TRAJECTORY TRACKING},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2005},
pages={112-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001184001120119},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - MOBILE ROBOT PREDICTIVE TRAJECTORY TRACKING
SN - 972-8865-30-9
IS - 2184-2809
AU - Seyr, M.
AU - Jakubek, S.
PY - 2005
SP - 112
EP - 119
DO - 10.5220/0001184001120119
PB - SciTePress

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