Model predictive trajectory control for automated driving of a spherical electrical drive

Abstract

In context of a research project of the group for control engineering and automotive mechatronics from Ostfalia University a highly dynamic, autonomous system comprising a spherical electrical drive is to be developed in a model based manner. This system is to be used as the core actuation element of a modular platform called the S-Mobile. The S-Mobile can be used in different domains for example as a service robot in humanoid environment, as the traction element of mobility equipment in street traffic or for Iogistic purposes in industry applications. For autonomous function it is necessary to develop a trajectory control system to achieve exact path following.