Nonlinear model predictive control for two-wheeled service robots

Shunichi Sekiguchi, Ayanori Yorozu, Kazuhiro Kuno, Masaki Okada, Yutaka Watanabe, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
EditorsRüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
PublisherSpringer Verlag
Pages452-463
Number of pages12
ISBN (Print)9783030013691
DOIs
Publication statusPublished - 2019 Jan 1
Event15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
Duration: 2018 Jun 112018 Jun 15

Publication series

NameAdvances in Intelligent Systems and Computing
Volume867
ISSN (Print)2194-5357

Other

Other15th International Conference on Intelligent Autonomous Systems, IAS 2018
CountryGermany
CityBaden-Baden
Period18/6/1118/6/15

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Keywords

  • Non-holonomic system
  • Nonlinear Model Predictive Control
  • Service robots
  • Two-wheeled robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Sekiguchi, S., Yorozu, A., Kuno, K., Okada, M., Watanabe, Y., & Takahashi, M. (2019). Nonlinear model predictive control for two-wheeled service robots. In R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (Eds.), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 452-463). (Advances in Intelligent Systems and Computing; Vol. 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_36