Hiep Do Quang, Thang Le Tran, T. Manh, C. Manh, Toan Nguyen Nhu, Nam Bui Duy
{"title":"Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS","authors":"Hiep Do Quang, Thang Le Tran, T. Manh, C. Manh, Toan Nguyen Nhu, Nam Bui Duy","doi":"10.18178/ijmerr.11.6.379-388","DOIUrl":null,"url":null,"abstract":"—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Mechanical Engineering and Robotics Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.18178/ijmerr.11.6.379-388","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 4
Abstract
—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.
期刊介绍：
International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
