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.
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. (Intervento presentato al convegno 10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019) [10.1016/j.ifacol.2019.08.043].
Wheel Slip Avoidance through a Nonlinear Model Predictive Control for Object Pushing with a Mobile Robot
Ruggiero, Fabio;
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.| File | Dimensione | Formato | |
|---|---|---|---|
|
Pushing_IAV_2019.pdf
accesso aperto
Tipologia:
Documento in Pre-print
Licenza:
Dominio pubblico
Dimensione
693.38 kB
Formato
Adobe PDF
|
693.38 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
