Nonlinear Model Predictive Path-Following for Mecanum-Wheeled Omnidirectional Mobile Robot

Abdul Aris Umar; Jung Su Kim

doi:10.5370/KIEE.2021.70.12.1946

Nonlinear Model Predictive Path-Following for Mecanum-Wheeled Omnidirectional Mobile Robot

Abdul Aris Umar
, Jung Su Kim

Dept. of Electrical and Information Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

This paper presents a control framework to drive a mecanum-wheeled omnidirectional mobile robot (MWOMR) to reach and follow a given path. To this end, a nonlinear model predictive control (NMPC) for the path following problem is designed such that the robot moves along the path while all the physical constraints are satisfied. For the purpose of implementing the state feedback NMPC, the robot is equipped with three types of sensor to get the robot position. All those information are managed on embedded systems with ROS (Robot Operating System). The control performance is evaluated for several paths and both cases for fixed and varying heading directions are tested. The simulation and experiment results are given to show the effectiveness of the proposed robot control framework.

Original language	English
Pages (from-to)	1946-1952
Number of pages	7
Journal	Transactions of the Korean Institute of Electrical Engineers
Volume	70
Issue number	12
DOIs	https://doi.org/10.5370/KIEE.2021.70.12.1946
State	Published - Dec 2021

Keywords

Mecanum-wheeled omnidirectional mobile robot
Nonlinear model predictive control
Path-following
ROS

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10.5370/KIEE.2021.70.12.1946

Cite this

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title = "Nonlinear Model Predictive Path-Following for Mecanum-Wheeled Omnidirectional Mobile Robot",

abstract = "This paper presents a control framework to drive a mecanum-wheeled omnidirectional mobile robot (MWOMR) to reach and follow a given path. To this end, a nonlinear model predictive control (NMPC) for the path following problem is designed such that the robot moves along the path while all the physical constraints are satisfied. For the purpose of implementing the state feedback NMPC, the robot is equipped with three types of sensor to get the robot position. All those information are managed on embedded systems with ROS (Robot Operating System). The control performance is evaluated for several paths and both cases for fixed and varying heading directions are tested. The simulation and experiment results are given to show the effectiveness of the proposed robot control framework.",

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author = "Umar, \{Abdul Aris\} and Kim, \{Jung Su\}",

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N2 - This paper presents a control framework to drive a mecanum-wheeled omnidirectional mobile robot (MWOMR) to reach and follow a given path. To this end, a nonlinear model predictive control (NMPC) for the path following problem is designed such that the robot moves along the path while all the physical constraints are satisfied. For the purpose of implementing the state feedback NMPC, the robot is equipped with three types of sensor to get the robot position. All those information are managed on embedded systems with ROS (Robot Operating System). The control performance is evaluated for several paths and both cases for fixed and varying heading directions are tested. The simulation and experiment results are given to show the effectiveness of the proposed robot control framework.

AB - This paper presents a control framework to drive a mecanum-wheeled omnidirectional mobile robot (MWOMR) to reach and follow a given path. To this end, a nonlinear model predictive control (NMPC) for the path following problem is designed such that the robot moves along the path while all the physical constraints are satisfied. For the purpose of implementing the state feedback NMPC, the robot is equipped with three types of sensor to get the robot position. All those information are managed on embedded systems with ROS (Robot Operating System). The control performance is evaluated for several paths and both cases for fixed and varying heading directions are tested. The simulation and experiment results are given to show the effectiveness of the proposed robot control framework.

KW - Mecanum-wheeled omnidirectional mobile robot

KW - Nonlinear model predictive control

KW - Path-following

KW - ROS

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JF - Transactions of the Korean Institute of Electrical Engineers

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ER -

Nonlinear Model Predictive Path-Following for Mecanum-Wheeled Omnidirectional Mobile Robot

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Keywords

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