Ming Xu, Bo Liu, Jun Zhou, Zelin Zhou, Zhenjie Weng
{"title":"基于模型预测控制的轮式足球机器人轨迹跟踪","authors":"Ming Xu, Bo Liu, Jun Zhou, Zelin Zhou, Zhenjie Weng","doi":"10.1109/ICCRE51898.2021.9435731","DOIUrl":null,"url":null,"abstract":"This paper addresses the trajectory tracking problem for soccer robots which can be simplified as two-wheeled robots. The kinematics analysis of the soccer robot is performed and a kinematics model is established. Due to the under-actuation of the robot and constraints of both the field and the soccer robot itself, Model Predictive Control (MPC) is applied in trajectory tracking control. The MPC strategy can be transformed to a constrained quadratic programming (QP) problem and the optimal control sequences for trajectory tracking is obtained by solving the QP problem online. Simulation experiments are designed to verify the control performance of the MPC controller.","PeriodicalId":382619,"journal":{"name":"2021 6th International Conference on Control and Robotics Engineering (ICCRE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Trajectory Tracking of Wheeled Soccer Robots Based on Model Predictive Control\",\"authors\":\"Ming Xu, Bo Liu, Jun Zhou, Zelin Zhou, Zhenjie Weng\",\"doi\":\"10.1109/ICCRE51898.2021.9435731\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses the trajectory tracking problem for soccer robots which can be simplified as two-wheeled robots. The kinematics analysis of the soccer robot is performed and a kinematics model is established. Due to the under-actuation of the robot and constraints of both the field and the soccer robot itself, Model Predictive Control (MPC) is applied in trajectory tracking control. The MPC strategy can be transformed to a constrained quadratic programming (QP) problem and the optimal control sequences for trajectory tracking is obtained by solving the QP problem online. Simulation experiments are designed to verify the control performance of the MPC controller.\",\"PeriodicalId\":382619,\"journal\":{\"name\":\"2021 6th International Conference on Control and Robotics Engineering (ICCRE)\",\"volume\":\"18 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-04-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 6th International Conference on Control and Robotics Engineering (ICCRE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCRE51898.2021.9435731\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 6th International Conference on Control and Robotics Engineering (ICCRE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCRE51898.2021.9435731","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Trajectory Tracking of Wheeled Soccer Robots Based on Model Predictive Control
This paper addresses the trajectory tracking problem for soccer robots which can be simplified as two-wheeled robots. The kinematics analysis of the soccer robot is performed and a kinematics model is established. Due to the under-actuation of the robot and constraints of both the field and the soccer robot itself, Model Predictive Control (MPC) is applied in trajectory tracking control. The MPC strategy can be transformed to a constrained quadratic programming (QP) problem and the optimal control sequences for trajectory tracking is obtained by solving the QP problem online. Simulation experiments are designed to verify the control performance of the MPC controller.