A high degree of mobility and flexibility will be a prerequisite for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singular regions within their configuration space. Within this work a model predictive control (MPC) approach is proposed that addresses both, actuator coordination and singularity avoidance. The control problem is treated within the spherical coordinate representation of the system's velocity space. The MPC approach is simulative and experimentally evaluated w.r.t. the undercarriage of the Care-Obot 3 mobile robot and is compared to an earlier developed potential field (PF) based approach.


    Access

    Download


    Export, share and cite



    Title :

    Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot



    Publication date :

    2010-01-01


    Remarks:

    Fraunhofer IPA


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    The Three-Wheeled Undercarriage

    Emerald Group Publishing | 1938


    Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

    Lafaye, Jory / Collette, Cyrille / Wieber, Pierre-Brice | IEEE | 2015


    LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot

    Morales, Sergio / Magallanes, Jose / Delgado, Cesar et al. | IEEE | 2018


    Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot

    Ye, Changlong / Zhang, Jianhui / Yu, Suyang et al. | British Library Conference Proceedings | 2019