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Author Lim, Heonyoung ♦ Kang, Yeonsik ♦ Kim, Changhwan ♦ Kim, Jongwon
Source SpringerLink
Content type Text
Publisher Korean Society for Precision Engineering
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations
Subject Keyword Nonlinear model predictive control ♦ Nonholonomic UGV ♦ Tracking control ♦ Field robots ♦ Industrial and Production Engineering ♦ Materials Science
Abstract This paper presents a nonlinear model predictive tracking control scheme for a six-wheeled nonholonomic unmanned ground vehicles (UGVs). It is employed as a high-level guidance control with kinematic approximation for UGV motion. A nonlinear model predictive control algorithm solves trajectory planning and optimal control problems by sequentially solving an online numerical optimization problem. The optimal control inputs for the UGV are obtained with a gradient descent optimization algorithm considering constraints of UGV motion as well as its input constraints. The characteristics of the proposed controller in terms of tracking performance and collision avoidance were investigated. The real-time performance of the proposed numerical optimization algorithm was verified with an experimental six-wheeled UGV platform in indoor and outdoor environments.
ISSN 22347593
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-05-02
Publisher Place Springer
e-ISSN 20054602
Journal International Journal of Precision Engineering and Manufacturing
Volume Number 15
Issue Number 5
Page Count 10
Starting Page 831
Ending Page 840


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Source: SpringerLink