Model Predictive Control for B-Spline Trajectory Tracking in Omnidirectional Robots

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Carvalho, JP (Author) Other; António Paulo Moreira (Author) FEUP; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: 2024 7TH IBERIAN ROBOTICS CONFERENCE, ROBOT 2024

Pages: 1-7

7th Iberian Robotics Conference

Madrid, SPAIN, NOV 06-08, 2024

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Other information

Authenticus ID: P-017-YJX

DOI: 10.1109/robot61475.2024.10797459

Abstract (EN): In the field of intelligent autonomous robots, integrating optimization techniques with classical control theory methods for mobile robot control is an increasingly prominent area of research. The combination enhances robots' ability to perform their tasks more efficiently, reliably, and safely. This paper addresses the development of a path and motion planning framework for omnidirectional robots, leveraging B-Splines and Trajectory Tracking with Model Predictive Control. The proposed framework is evaluated through software-in-the-loop tests using two distinct dynamical models and sets of hyperparameters. Final validation is conducted by implementing the framework within a ROS environment and performing field tests on a robotic platform. The results demonstrate that the robot can reliably track trajectories at its actuation limits, and the proposed framework enables the robot to increase its velocity up to 50% when compared to a PID path-following controller.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7