Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to posi...

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Authors: Wan, Jian, Quintero Monroy, Christian G., Luo, Ningsu, Vehí, Josep
Format: article
Publication Date:2004
Country:España
Institution:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repository:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/2670
Online Access:http://hdl.handle.net/10256/2670
Access Level:Open access
Keyword:Control intel·ligent
Control predictiu
Robots mòbils -- Sistemes de control
Intelligent control systems
Mobile robots -- Control systems
Predictive control
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spelling Predictive motion control of a mirosot mobile robotWan, JianQuintero Monroy, Christian G.Luo, NingsuVehí, JosepControl intel·ligentControl predictiuRobots mòbils -- Sistemes de controlIntelligent control systemsMobile robots -- Control systemsPredictive controlThis paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic modelIEEE2004info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10256/2670http://hdl.handle.net/10256/2670© World Automation Congress : 2004 : Proceedings, 2004, vol. 15, p. 325-330Articles publicats (D-EEEiA)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1109/WAC.2004.185240info:eu-repo/semantics/altIdentifier/isbn/1-889335-21-5Tots els drets reservatsinfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/26702026-05-29T05:05:01Z
dc.title.none.fl_str_mv Predictive motion control of a mirosot mobile robot
title Predictive motion control of a mirosot mobile robot
spellingShingle Predictive motion control of a mirosot mobile robot
Wan, Jian
Control intel·ligent
Control predictiu
Robots mòbils -- Sistemes de control
Intelligent control systems
Mobile robots -- Control systems
Predictive control
title_short Predictive motion control of a mirosot mobile robot
title_full Predictive motion control of a mirosot mobile robot
title_fullStr Predictive motion control of a mirosot mobile robot
title_full_unstemmed Predictive motion control of a mirosot mobile robot
title_sort Predictive motion control of a mirosot mobile robot
dc.creator.none.fl_str_mv Wan, Jian
Quintero Monroy, Christian G.
Luo, Ningsu
Vehí, Josep
author Wan, Jian
author_facet Wan, Jian
Quintero Monroy, Christian G.
Luo, Ningsu
Vehí, Josep
author_role author
author2 Quintero Monroy, Christian G.
Luo, Ningsu
Vehí, Josep
author2_role author
author
author
dc.subject.none.fl_str_mv Control intel·ligent
Control predictiu
Robots mòbils -- Sistemes de control
Intelligent control systems
Mobile robots -- Control systems
Predictive control
topic Control intel·ligent
Control predictiu
Robots mòbils -- Sistemes de control
Intelligent control systems
Mobile robots -- Control systems
Predictive control
description This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model
publishDate 2004
dc.date.none.fl_str_mv 2004
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/2670
http://hdl.handle.net/10256/2670
url http://hdl.handle.net/10256/2670
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/WAC.2004.185240
info:eu-repo/semantics/altIdentifier/isbn/1-889335-21-5
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv © World Automation Congress : 2004 : Proceedings, 2004, vol. 15, p. 325-330
Articles publicats (D-EEEiA)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869423123582943232
score 15,811543

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