A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning

Dirckx, Dries; Gillis, Joris; Swevers, Jan; Decré, Wilm; Pipeleers, Goele

doi:10.1109/amc51637.2022.9729307

Cited by 2 publications

(2 citation statements)

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“…Model predictive control (MPC) is an advanced control algorithm that uses a model of the plant to predict future behaviour and optimise control actions. While MPC offers many advantages, there are also some drawbacks associated with its use in a wheeled mobile robot, such as computational complexity, model accuracy, sensitivity to disturbances, limited handling of constraints and tuning complexity [21][22][23]. Adaptive MPC is an advanced control technique that has attracted significant attention in recent years due to its ability to handle complex systems with uncertainties and time-varying parameters.…”

Section: Literature Reviewmentioning

confidence: 99%

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Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian

Finecomess,

Gebresenbet,

Alwan

2024

Preprint

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Wheeled mobile robot dynamics and suitable controller design are challenging but rewarding fields of study. By understanding the dynamics of wheeled mobile robots, it could be possible to design suitable hybrid control schemes for wheeled mobile robots. Since hybrid control schemes involve combining individual control methods to create a more effective overall control strategy. This can be done in a variety of ways, such as using fuzzy linear quadratic Gaussian control. We were therefore inspired to create dynamic models and their controller designs for the wheeled mobile robot by examining the dynamics of the wheeled mobile robot. The novelty of the current paper is to hybridize the different control schemes for wheeled mobile robots in order to get better performance. Entire systems models were simulated in a MATLAB/SIMULINK environment. The results obtained for the settling time response by FLQG were 87.1% over LQG; this study compared the effectiveness of current and previous FLQG controllers in external disturbances and found peak amplitude improvements of 71.25%. Therefore, the proposed controller is suitable for use with the wheeled mobile robot.

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Section: Literature Reviewmentioning

confidence: 99%

“…𝑇 (23) was introduced. The active forces generated by the actuators which make the robot move can be expressed in the inertial frame as follows:…”

Section: Development Of a Kinematic Model Of A Four-wheeled Mobile Ro...mentioning

confidence: 99%

Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian

Finecomess,

Gebresenbet,

Alwan

2024

Preprint

View full text Add to dashboard Cite

show abstract

AdaptiveNLP: a Framework for Efficient Online Adaptability in NLP Structures for Optimal Control Problems

Callens,

Gillis,

Decré

et al. 2024

2024 European Control Conference (ECC)

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A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning

Cited by 2 publications

References 10 publications

Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian

Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian

AdaptiveNLP: a Framework for Efficient Online Adaptability in NLP Structures for Optimal Control Problems

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