Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control
Omnidirectional mobile robots with conventional wheels avoid the drawbacks (e.g., shock, slippage, and low load capacity) of omnidirectional mobile robots with wheels that have special structures. We previously proposed such a robot, called the slidable-wheel omnidirectional mobile robot (SWOM), as...
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| Language: | English |
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The Japan Society of Mechanical Engineers
2025-03-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
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| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/19/1/19_2025jamdsm0011/_pdf/-char/en |
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| author | Huang XU Tatsuro TERAKAWA Masaharu KOMORI |
| author_facet | Huang XU Tatsuro TERAKAWA Masaharu KOMORI |
| author_sort | Huang XU |
| collection | DOAJ |
| description | Omnidirectional mobile robots with conventional wheels avoid the drawbacks (e.g., shock, slippage, and low load capacity) of omnidirectional mobile robots with wheels that have special structures. We previously proposed such a robot, called the slidable-wheel omnidirectional mobile robot (SWOM), as well as its controller for point-to-point movement. However, for practical applications, such as transporting goods in factories and warehouses, SWOM needs to be able to follow a predefined trajectory. In this paper, we present the design of a trajectory tracking controller for SWOM. Given that SWOM is a nonlinear system with constraints on both inputs and outputs, model predictive control (MPC) is adopted. Due to the high computational demands and time consumption associated with nonlinear MPC, linear MPC is used to achieve trajectory tracking. By expanding the previous research, an original method for generating a reference path that includes not only state variables but also inputs is proposed in this paper for the trajectory tracking task. The linearized kinematic model of SWOM is obtained using a first-order Taylor expansion around reference points on the reference path. Simulations considering slippage are conducted and the results show that SWOM can well track the reference path. Experiments conducted on a prototype also validate the effectiveness of the proposed control method. |
| format | Article |
| id | doaj-art-3c789903df8a45b3bc97291fb42d792d |
| institution | DOAJ |
| issn | 1881-3054 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj-art-3c789903df8a45b3bc97291fb42d792d2025-08-20T03:04:20ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542025-03-01191JAMDSM0011JAMDSM001110.1299/jamdsm.2025jamdsm0011jamdsmTrajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive controlHuang XU0Tatsuro TERAKAWA1Masaharu KOMORI2Department of Mechanical Engineering and Science, Kyoto UniversityDepartment of Mechanical Engineering and Science, Kyoto UniversityDepartment of Mechanical Engineering and Science, Kyoto UniversityOmnidirectional mobile robots with conventional wheels avoid the drawbacks (e.g., shock, slippage, and low load capacity) of omnidirectional mobile robots with wheels that have special structures. We previously proposed such a robot, called the slidable-wheel omnidirectional mobile robot (SWOM), as well as its controller for point-to-point movement. However, for practical applications, such as transporting goods in factories and warehouses, SWOM needs to be able to follow a predefined trajectory. In this paper, we present the design of a trajectory tracking controller for SWOM. Given that SWOM is a nonlinear system with constraints on both inputs and outputs, model predictive control (MPC) is adopted. Due to the high computational demands and time consumption associated with nonlinear MPC, linear MPC is used to achieve trajectory tracking. By expanding the previous research, an original method for generating a reference path that includes not only state variables but also inputs is proposed in this paper for the trajectory tracking task. The linearized kinematic model of SWOM is obtained using a first-order Taylor expansion around reference points on the reference path. Simulations considering slippage are conducted and the results show that SWOM can well track the reference path. Experiments conducted on a prototype also validate the effectiveness of the proposed control method.https://www.jstage.jst.go.jp/article/jamdsm/19/1/19_2025jamdsm0011/_pdf/-char/enmodel predictive controlomnidirectional mobile robottrajectory trackinglinearizationreference path generation |
| spellingShingle | Huang XU Tatsuro TERAKAWA Masaharu KOMORI Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control Journal of Advanced Mechanical Design, Systems, and Manufacturing model predictive control omnidirectional mobile robot trajectory tracking linearization reference path generation |
| title | Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control |
| title_full | Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control |
| title_fullStr | Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control |
| title_full_unstemmed | Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control |
| title_short | Trajectory tracking control of slidable-wheel omnidirectional mobile robot based on linear model predictive control |
| title_sort | trajectory tracking control of slidable wheel omnidirectional mobile robot based on linear model predictive control |
| topic | model predictive control omnidirectional mobile robot trajectory tracking linearization reference path generation |
| url | https://www.jstage.jst.go.jp/article/jamdsm/19/1/19_2025jamdsm0011/_pdf/-char/en |
| work_keys_str_mv | AT huangxu trajectorytrackingcontrolofslidablewheelomnidirectionalmobilerobotbasedonlinearmodelpredictivecontrol AT tatsuroterakawa trajectorytrackingcontrolofslidablewheelomnidirectionalmobilerobotbasedonlinearmodelpredictivecontrol AT masaharukomori trajectorytrackingcontrolofslidablewheelomnidirectionalmobilerobotbasedonlinearmodelpredictivecontrol |