Next Article in Journal
Enhanced Harnessing of the Graviola Bioactive Components Using a Neoteric Sonication Cum Microwave Coadjuvant Extraction Protocol
Next Article in Special Issue
Effective Biopotential Signal Acquisition: Comparison of Different Shielded Drive Technologies
Previous Article in Journal
A Parallel Approach for Frequent Subgraph Mining in a Single Large Graph Using Spark
Previous Article in Special Issue
Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion
Article Menu
Issue 2 (February) cover image

Export Article

Open AccessArticle
Appl. Sci. 2018, 8(2), 231; https://doi.org/10.3390/app8020231

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

1
College of IoT Engineering, Hohai University, Changzhou 213022, China
2
Changzhou Key Laboratory of Robotics and Intelligent Technology, Hohai University, Changzhou 213022, China
3
Jiangsu Key Laboratory of Special Robots, Hohai University, Changzhou 213022, China
4
Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150080, China
5
School of Electromechanical and Automobile Engineerng, Changzhou Vacational Institue of Engineering, Changzhou 213164, China
6
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 article belongs to the Special Issue Bio-Inspired Robotics)
Full-Text   |   PDF [1116 KB, uploaded 2 February 2018]   |  

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. View Full-Text
Keywords: omni-directional mobile robot (OMR); kinematics model; model predictive control; point stabilization; trajectory tracking omni-directional mobile robot (OMR); kinematics model; model predictive control; point stabilization; trajectory tracking
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed
Printed Edition Available!
A printed edition of this Special Issue is available here.

Share & Cite This Article

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.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top