Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Chengcheng Wang; Xiaofeng Liu; Xianqiang Yang; Fang Hu; Aimin Jiang; Chenguang Yang

doi:10.3390/app8020231

journal article Open Access Feb 02, 2018

Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Chengcheng Wang

Applied Sciences Vol. 8 No. 2 pp. 231 · MDPI AG

View at Publisher Save 10.3390/app8020231

Abstract

This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm with control and system constraints is designed to achieve point stabilization and trajectory tracking. Simulation results validate the accuracy of the established kinematics model and the effectiveness of the proposed MPC controller.

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Metrics

135

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References

Details

Published: Feb 02, 2018
Vol/Issue: 8(2)
Pages: 231
License: View

Authors

C

Chengcheng Wang

College of IoT Engineering, Hohai University, Changzhou 213022, China; Changzhou Key Laboratory of Robotics and Intelligent Technology, Hohai University, Changzhou 213022, China; Jiangsu Key Laboratory of Special Robots, Hohai University, Changzhou 213022, China

X

Xiaofeng Liu

College of IoT Engineering, Hohai University, Changzhou 213022, China; Changzhou Key Laboratory of Robotics and Intelligent Technology, Hohai University, Changzhou 213022, China; Jiangsu Key Laboratory of Special Robots, Hohai University, Changzhou 213022, China

X

Xianqiang Yang

Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150080, China

F

Fang Hu

School of Electromechanical and Automobile Engineerng, Changzhou Vacational Institue of Engineering, Changzhou 213164, China

A

Aimin Jiang

College of IoT Engineering, Hohai University, Changzhou 213022, China; Changzhou Key Laboratory of Robotics and Intelligent Technology, Hohai University, Changzhou 213022, China; Jiangsu Key Laboratory of Special Robots, Hohai University, Changzhou 213022, China

C

Chenguang Yang

Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China

Cite This Article

Chengcheng Wang, Xiaofeng Liu, Xianqiang Yang, et al. (2018). Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy. Applied Sciences, 8(2), 231. https://doi.org/10.3390/app8020231

Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

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