A high degree of mobility and flexibility will be a prerequisite for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singular regions within their configuration space. Within this work a model predictive control (MPC) approach is proposed that addresses both, actuator coordination and singularity avoidance. The control problem is treated within the spherical coordinate representation of the system's velocity space. The MPC approach is simulative and experimentally evaluated w.r.t. the undercarriage of the Care-Obot 3 mobile robot and is compared to an earlier developed potential field (PF) based approach.
Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot
2010-01-01
Fraunhofer IPA
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
The Three-Wheeled Undercarriage
Emerald Group Publishing | 1938
Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot
British Library Conference Proceedings | 2019
|Online Optimal Control of Three-Wheeled Omnidirectional Mobile Robot Using Policy Iteration
Springer Verlag | 2022
|Automatic undercarriage of two-wheeled electric vehicle
Europäisches Patentamt | 2023
|Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
DOAJ | 2017
|