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Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot

: Connette, Christian P.; Hofmeister, Stefan; Bubeck, Alexander; Hägele, Martin; Verl, Alexander

Postprint urn:nbn:de:0011-n-1414739 (614 KByte PDF)
MD5 Fingerprint: 869651a59ec5c8e56a43695b5de0b03e
Erstellt am: 30.9.2010

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
mobile transport robot; mobiler Roboter; Care-O-Bot; Mobilität; Model Predictive Control (MPC); Roboter; Robotersteuerung; Regelung

A high degree of mobility and flexibility will be a prerequisite for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robustness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singular regions within their configuration space. Within this work a model predictive control (MPC) approach is proposed that addresses both, actuator coordination and singularity avoidance. The control problem is treated within the spherical coordinate representation of the system's velocity space. The MPC approach is simulative and experimentally evaluated w.r.t. the undercarriage of the Care-Obot 3 mobile robot and is compared to an earlier developed potential field (PF) based approach.