{"title":"静态未知环境下约束差速驱动机器人的后退地平线控制策略","authors":"Cristian Tiriolo, G. Franzé, Walter Lucia","doi":"10.1109/CCTA41146.2020.9206301","DOIUrl":null,"url":null,"abstract":"In this paper, a reference tracking problem for wheeled differential-drive robots subject to obstacle avoidance requirements is considered. By resorting to feedback-linearization techniques, the differential-drive nonlinear dynamics is first recast as two simple integrators under state-dependent input constraints; then, an ad-hoc switching receding horizon controller is derived with the aim to efficiently handle time-varying constraints and non-convex obstacle-free regions. Effectiveness and benefits of such an approach are finally discussed by means of experimental results obtained using an E-puck2 differential-drive robot.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"A receding horizon control strategy for constrained differential-drive robots moving in static unknown environments\",\"authors\":\"Cristian Tiriolo, G. Franzé, Walter Lucia\",\"doi\":\"10.1109/CCTA41146.2020.9206301\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a reference tracking problem for wheeled differential-drive robots subject to obstacle avoidance requirements is considered. By resorting to feedback-linearization techniques, the differential-drive nonlinear dynamics is first recast as two simple integrators under state-dependent input constraints; then, an ad-hoc switching receding horizon controller is derived with the aim to efficiently handle time-varying constraints and non-convex obstacle-free regions. Effectiveness and benefits of such an approach are finally discussed by means of experimental results obtained using an E-puck2 differential-drive robot.\",\"PeriodicalId\":241335,\"journal\":{\"name\":\"2020 IEEE Conference on Control Technology and Applications (CCTA)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 IEEE Conference on Control Technology and Applications (CCTA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCTA41146.2020.9206301\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE Conference on Control Technology and Applications (CCTA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCTA41146.2020.9206301","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A receding horizon control strategy for constrained differential-drive robots moving in static unknown environments
In this paper, a reference tracking problem for wheeled differential-drive robots subject to obstacle avoidance requirements is considered. By resorting to feedback-linearization techniques, the differential-drive nonlinear dynamics is first recast as two simple integrators under state-dependent input constraints; then, an ad-hoc switching receding horizon controller is derived with the aim to efficiently handle time-varying constraints and non-convex obstacle-free regions. Effectiveness and benefits of such an approach are finally discussed by means of experimental results obtained using an E-puck2 differential-drive robot.
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