[Zurück]

M Seyr, S. Jakubek:
"Mobile Robot Predictive Trajectory Tracking";
Vortrag: ICINCO 2005 (2nd internat. Conference on Informatics in Control, Automation and Robotics), Barcelona; 14.09.2005 - 17.09.2005; in: "Proceedings of the 2005 ICINCO", INSTICC, (2005), ISBN: 972-8865-30-9; S. 112 - 119.

For a two-wheeled differentially driven mobile robot a trajectory tracking concept is developed. A trajectory
is a time-indexed path in the plane, i.e. in the three-dimensional configuration space consisting of position and
orientation. Due to the nonholonomic nature of a rolling wheel, the system cannot be stabilized by a continuous
time-invariant feedback or by feedback linearization. A novel approach taken in this paper to solve the
nonholonomic control problem consists of nonlinear predictive control in conjunction with linear state space
control with integration of the control error. Based on a Gauss-Newton algorithm, predicted future position
errors are minimized by numerical computation of an optimal sequence of control inputs using prespecified
shape functions.

For a two-wheeled differentially driven mobile robot a trajectory tracking concept is developed. A trajectory
is a time-indexed path in the plane, i.e. in the three-dimensional configuration space consisting of position and
orientation. Due to the nonholonomic nature of a rolling wheel, the system cannot be stabilized by a continuous
time-invariant feedback or by feedback linearization. A novel approach taken in this paper to solve the
nonholonomic control problem consists of nonlinear predictive control in conjunction with linear state space
control with integration of the control error. Based on a Gauss-Newton algorithm, predicted future position
errors are minimized by numerical computation of an optimal sequence of control inputs using prespecified
shape functions.

http://publik.tuwien.ac.at/files/pub-mb_4367.pdf