Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses
Rocco Galati, Giacomo Mantriota
Abstract
This paper presents results coming from a non-linear model predictive controller used to generate optimized trajectories specifically for an omnidirectional robot equipped with a spraying unit to mark on the floor the perimeter of dangerous areas or to move large palletized goods inside warehouses. Results on different trajectories and with moving obstacles are provided along with considerations on the controller performance.
Topics & Concepts
Omnidirectional antennaModel predictive controlRobotController (irrigation)Path (computing)TrajectoryComputer scienceMobile robotControl theory (sociology)SimulationControl engineeringEngineeringArtificial intelligenceControl (management)BiologyAntenna (radio)TelecommunicationsProgramming languagePhysicsAgronomyAstronomyAdvanced Manufacturing and Logistics OptimizationRobotic Path Planning AlgorithmsControl and Dynamics of Mobile Robots