A nonlinear mobile robot modeling applied to a model predictive controller

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Conceicao, AS (Autor) Outra; António Paulo Moreira (Autor) FEUP; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of the 2009 ACM Symposium on Applied Computing (SAC)

Páginas: 1186-1187

ACM Symposium on Applied Computing (SAC)

Honolulu, Hawaii, USA, March 9-12, 2009

Indexação

Scopus - 1 Citação

Outras Informações

ID Authenticus: P-007-RZV

DOI: 10.1145/1529282.1529546

Abstract (EN): This paper presents a nonlinear modeling approach of an omnidirectional mobile robot to predict the robot behavior in a model-based predictive controller (MPC). Parameters related to dynamic equations of the robot and restriction of the robot's motors are considered in the modeling. Simulation results and real results of navigation are provided to demonstrate the performance of the proposed modeling approach. Copyright 2009 ACM.

Idioma: Inglês

Tipo (Avaliação Docente): Científica