TY - GEN
T1 - Model Predictive Visual Trajectory-Tracking Control of Wheeled Mobile Robots
AU - Bai, Hongli
AU - Gao, Jian
AU - Sun, Xiaoxiao
AU - Yan, Weisheng
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - In this paper, the visual-based trajectory-tracking control of differential wheeled mobile robots with fixed cameras is investigated by using a model predictive control (MPC)-based method. Firstly, the kinematic model and visual trajectory-tracking error model are established for a mobile robot system with a fixed camera, where the reference trajectory is generated by a reference robot with the same model of real one. The visual trajectory tracking controller is designed, in which the nonlinear model predictive control (NMPC) method is used to ensure that the mobile robot stays in the field-of-view of the global camera. The simulation results are presented, which show that the MPC controller with larger prediction horizon has better performance in the sense of faster convergence rate and higher tracking accuracy, and the cost function also affects the convergence rate and overshoot of the model predictive control system.
AB - In this paper, the visual-based trajectory-tracking control of differential wheeled mobile robots with fixed cameras is investigated by using a model predictive control (MPC)-based method. Firstly, the kinematic model and visual trajectory-tracking error model are established for a mobile robot system with a fixed camera, where the reference trajectory is generated by a reference robot with the same model of real one. The visual trajectory tracking controller is designed, in which the nonlinear model predictive control (NMPC) method is used to ensure that the mobile robot stays in the field-of-view of the global camera. The simulation results are presented, which show that the MPC controller with larger prediction horizon has better performance in the sense of faster convergence rate and higher tracking accuracy, and the cost function also affects the convergence rate and overshoot of the model predictive control system.
KW - model predictive control
KW - trajectory tracking
KW - visual servo control
KW - wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=85070650899&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2019.8781161
DO - 10.1109/ISIE.2019.8781161
M3 - 会议稿件
AN - SCOPUS:85070650899
T3 - IEEE International Symposium on Industrial Electronics
SP - 569
EP - 574
BT - Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Y2 - 12 June 2019 through 14 June 2019
ER -