相关论文: On Model Predictive Path Following and Trajectory …
In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…
Applying model predictive control on embedded systems remains challenging due to the high computational cost of solving optimal control problems. To address this limitation, computationally efficient Gaussian process approximations of the…
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to design a fully autonomous prototype that can find its way…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…