Nonlinear model predictive control for two-wheeled service robots

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
編集者Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
出版社Springer Verlag
ページ452-463
ページ数12
ISBN(印刷版)9783030013691
DOI
出版ステータスPublished - 2019 1月 1
イベント15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
継続期間: 2018 6月 112018 6月 15

出版物シリーズ

名前Advances in Intelligent Systems and Computing
867
ISSN(印刷版)2194-5357

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

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