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 引用 (Scopus)

抜粋

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.

元の言語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
出版者Springer Verlag
ページ452-463
ページ数12
ISBN(印刷物)9783030013691
DOI
出版物ステータスPublished - 2019 1 1
イベント15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
継続期間: 2018 6 112018 6 15

出版物シリーズ

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

Other

Other15th International Conference on Intelligent Autonomous Systems, IAS 2018
Germany
Baden-Baden
期間18/6/1118/6/15

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

これを引用

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