Model Predictive Control for a Mecanum-wheeled Robot Navigating among Obstacles ?

摘要

Mecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, we model the behaviour of such robots by taking into account both their equations of motion and the electrodynamic response of their actuators, including dry and viscous friction at their shafts. This allows us to design a model predictive controller aimed to minimise the energy consumed by the robot. The controller also satisfies a number of non-linear inequalities modelling motor voltage limits and obstacle avoidance constraints. The result is an agile controller that can quickly adapt to changes in the environment, while generating fast and energy-efficient manoeuvres towards the goal.