期刊
JOURNAL OF ADVANCED TRANSPORTATION
卷 -, 期 -, 页码 1-11出版社
WILEY-HINDAWI
DOI: 10.1155/2017/4961383
关键词
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资金
- National Nature Science Foundation (NSFC) [61473120]
- Guangdong Provincial Natural Science Foundation [2014A030313266]
- International Science and Technology Collaboration Grant [2015A050502017]
- Science and Technology Planning Project of Guangzhou [201607010006]
- State Key Laboratory of Robotics and System (HIT) Grant [SKLRS-2017-KF-13]
In this paper, potential field method has been used to navigate a three omnidirectional wheels' mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.
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