Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy
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
Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150080, China
School of Electromechanical and Automobile Engineerng, Changzhou Vacational Institue of Engineering, Changzhou 213164, China
Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
Author to whom correspondence should be addressed.
Received: 13 November 2017 / Revised: 28 January 2018 / Accepted: 30 January 2018 / Published: 2 February 2018
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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MDPI and ACS Style
Wang, C.; Liu, X.; Yang, X.; Hu, F.; Jiang, A.; Yang, C. Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy. Appl. Sci. 2018, 8, 231.
Wang C, Liu X, Yang X, Hu F, Jiang A, Yang C. Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy. Applied Sciences. 2018; 8(2):231.
Wang, Chengcheng; Liu, Xiaofeng; Yang, Xianqiang; Hu, Fang; Jiang, Aimin; Yang, Chenguang. 2018. "Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy." Appl. Sci. 8, no. 2: 231.
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