Autonomous mobile robot control in operational space with torquesaturation, slippage and tip-over avoidance

摘要

Motion control of mobile robots, when autonomy is needed, requiresthe ability of operational space control. Exact input outputlinearization of the mobile robot dynamics facilitates the design of theoperational space control but requires verification of sufficientsmoothness condition. Torque saturation of actuators, slippage avoidanceof the wheels with regard to the ground and tip-over of the overallmobile robot are to be avoided not only for satisfying the smoothnessconditions, but also for keeping the ability to control the mobile robotin general. In this paper, predictive control is used for avoidance ofthe occurrence of these events by modifying the input commands such thatthe geometric path planning result is conserved and the smoothnesscondition for exact linearization is not violated. The performance ofthe input command (computed jerk) modification is verified by comparisonwith the corresponding output jerks of the mobile robot in operationalspace