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.
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. (Intervento presentato al convegno 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV) tenutosi a Gdansk, Poland nel 2019) [10.1016/j.ifacol.2019.08.043].
Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot
Bertoncelli, Filippo
;Sabattini, Lorenzo
2019
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.
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