Paolo Mercorelli, T. Voss, Daniel Strassberger, O. Sergiyenko, L. Lindner
{"title":"基于MPC的robotino最优轨迹生成及其在ROS系统中的实现","authors":"Paolo Mercorelli, T. Voss, Daniel Strassberger, O. Sergiyenko, L. Lindner","doi":"10.1109/ISIE.2017.8001493","DOIUrl":null,"url":null,"abstract":"Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"7 1","pages":"1642-1647"},"PeriodicalIF":0.0000,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Optimal trajectory generation using MPC in robotino and its implementation with ROS system\",\"authors\":\"Paolo Mercorelli, T. Voss, Daniel Strassberger, O. Sergiyenko, L. Lindner\",\"doi\":\"10.1109/ISIE.2017.8001493\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.\",\"PeriodicalId\":6597,\"journal\":{\"name\":\"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)\",\"volume\":\"7 1\",\"pages\":\"1642-1647\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-06-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.2017.8001493\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.2017.8001493","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimal trajectory generation using MPC in robotino and its implementation with ROS system
Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.
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