Nonlinear Model Predictive Control for Omnidirectional Robot Motion Planning and Tracking With Avoidance of Moving Obstacles

2014 ◽  
Vol 37 (3) ◽  
pp. 151-156 ◽  
Author(s):  
Timothy A. V. Teatro ◽  
J. Mikael Eklund ◽  
Ruth Milman
Keyword(s):  
Model Predictive Control ◽  
Motion Planning ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Nonlinear Model Predictive Control ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Moving Obstacles

NMPC-MP: Real-time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation

2021 ◽  
Author(s):  
Siqi Hu ◽  
Edwin Babaians ◽  
Mojtaba Karimi ◽  
Eckehard Steinbach
Keyword(s):  
Model Predictive Control ◽  
Motion Planning ◽  
Real Time ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Nonlinear Model Predictive Control

scholarly journals Motion Planning for Mobile Robot with Modified BIT* and MPC

2021 ◽  
Vol 11 (1) ◽  
pp. 426
Author(s):  
Puyong Xu ◽  
Ning Wang ◽  
Shi-Lu Dai ◽  
Lei Zuo
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Motion Planning ◽  
Objective Function ◽  
Free Path ◽  
Predictive Control ◽  
Planning Method ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Simulation Results

In this paper, a mobile robot motion planning method with modified BIT* (batch informed trees) and MPC (Model Predictive Control) is presented. The conventional BIT* was modified here by integrating a stretch method that improves the path points connections, to get a collision-free path more quickly. After getting a reference path, the MPC method is employed to determine the motion at each moment with a given objective function. In the objective function, a repulsive function based on the direction and distance of the obstacles is introduced to avoid the robot being too close to the obstacle, so the safety can be ensured. Simulation results show the good navigation performance of the whole framework in different scenarios.

DE-based Nonlinear Model Predictive Control of a pH Neutralization Process

2010 ◽  
Vol 36 (1) ◽  
pp. 159-162 ◽  
Author(s):  
Teng ZHU ◽  
Jing-Chun WANG ◽  
Zhi-Hua XIONG
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Nonlinear Model Predictive Control ◽  
Neutralization Process ◽  
Ph Neutralization ◽  
Ph Neutralization Process
Sign in / Sign up

Export Citation Format

Share Document