Paper Info
Title
Motion Planning And Control Of An Omnidirectional Mobile Robot In Dynamic Environments
Abstract
Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot's differential equations of motion are extracted using Kane's method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot's physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.
Year
DOI
Venue
2021
10.3390/robotics10010048
ROBOTICS
Keywords
DocType
Volume
omnidirectional mobile robot, Kane's dynamics, model predictive control, velocity obstacles, obstacle avoidance
Journal
10
Issue
Citations 
PageRank 
1
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Mahmood Reza Azizi100.34
Alireza Rastegarpanah274.66
Rustam Stolkin352739.74