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. ( 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV) Gdansk, Poland 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.
2019
Inglese
10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)
Gdansk, Poland
2019
WOS:000485152200006
2-s2.0-85076256061
Proceedings of the 10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV)
52
8
25
30
6
ELSEVIER
RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS
Mobile robots; predictive control; manipulation tasks; optimization problems; friction
Bertoncelli, Filippo; Ruggiero, Fabio; Sabattini, Lorenzo
Atti di CONVEGNO::Relazione in Atti di Convegno
273
3
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].
open
info:eu-repo/semantics/conferenceObject
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1185847
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