Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses-Reference-Cited by-同舟云学术

Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses

Published:2023-05-29 Issue:3 Volume:12 Page:78
ISSN:2218-6581
Container-title:Robotics
language:en
Short-container-title:Robotics

Author:

Galati Rocco¹^ORCID,Mantriota Giacomo¹^ORCID

Affiliation:

1. Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, Italy

Abstract

This paper presents results coming from a non-linear model predictive controller used to generate optimized trajectories specifically for an omnidirectional robot equipped with a spraying unit to mark on the floor the perimeter of dangerous areas or to move large palletized goods inside warehouses. Results on different trajectories and with moving obstacles are provided along with considerations on the controller performance.

Funder

Italian Ministry of University and Research under the Programme “Department of Excellence”

Publisher

MDPI AG

Subject

Artificial Intelligence,Control and Optimization,Mechanical Engineering

Link

https://www.mdpi.com/2218-6581/12/3/78/pdf

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