The Simulation of Nonlinear Model Predictive Control for a Human-following Mobile Robot
The Simulation of Nonlinear Model Predictive Control for a Human-following Mobile Robot
复制标题
仿人移动机器人非线性模型预测控制仿真
DOI：
10.1109/robio.2015.7418803
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
--
作者：
Ziyou Wang;J. Kinugawa;Hongbo Wang;K. Kosuge
针对全方位移动的机器人的人跟随问题，提出了一种新的控制框架。控制输入是基于人体运动的预测来计算的。人体运动的预测是通过一个混合运动学模型。该模型描述了人类行走的不同阶段。一个非线性模型预测控制（NMPC）被用来构建控制框架。在该控制框架中，考虑到全方位移动的机器人的非线性运动学模型和硬件限制，通过对人体运动的预测来产生最优控制输入。实验和仿真结果证明了步行模型和所提出的控制器的有效性。
This paper proposed a novel control frame to deal with the human following issue of an omnidirectional mobile robot. The control input is calculated based on the prediction of human motion. The prediction of human motion is performed by means of a hybrid kinematics model. This model describes the different phases in the human walking. A nonlinear model predictive control(NMPC) is used to construct the control frame. In this control frame, the optimal control input is generated by means of the prediction of the motion of human with the consideration of the nonlinear kinematics model and hardware limitations of the omnidirectional mobile robot. Experimental and simulation results are provided to demonstrate the efficiency of the walking model and proposed controller.