基于ROS的自主移动机器人导航系统非线性MPC控制器设计

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI:10.18178/ijmerr.11.6.379-388

Hiep Do Quang, Thang Le Tran, T. Manh, C. Manh, Toan Nguyen Nhu, Nam Bui Duy

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引用次数: 4

摘要

-导航是自走式机器人的核心问题，其中轨道控制系统对机器人的行为和导航起着决定性的作用。本文介绍了四轮Omni机器人轨道跟踪问题非线性模型预测控制控制器的设计和构造的指导方法。将所设计的控制器实现在导航堆栈系统中，使机器人能够平稳地沿着指定的轨迹运动，同时避免与周围障碍物发生碰撞。结合ROS平台给出了理论和仿真实例，验证了该方法在结合导航堆栈系统的弹道跟踪问题中的有效性。此外，还通过与TEB规划器的比较，证明了所设计的导航堆栈的优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS

—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.