Advertisement

Nonlinear Model Predictive Control for Two-Wheeled Service Robots

  • Shunichi Sekiguchi
  • Ayanori Yorozu
  • Kazuhiro Kuno
  • Masaki Okada
  • Yutaka Watanabe
  • Masaki Takahashi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.

Keywords

Nonlinear Model Predictive Control Two-wheeled robots Service robots Non-holonomic system 

References

  1. 1.
    Haneda Robotics Lab Homepage. https://www.tokyo-airport-bldg.co.jp/hanedaroboticslab/. Accessed Jan 2018
  2. 2.
    Ohtsuka, T., Fujii, H.: Real-time optimization algorithm for nonlinear receding-horizon control. Automatica 33(6), 1147–1154 (1997)MathSciNetCrossRefGoogle Scholar
  3. 3.
    Gu, D., Hu, H.: Receding horizon tracking control of wheeled mobile robots. IEEE Trans. Control Syst. Technol. 14(4), 743–749 (2006)CrossRefGoogle Scholar
  4. 4.
    Indiveri, G.: Kinematic time-invariant control of a 2D nonholonomic vehicle. In: Proceedings of the 38th IEEE Conference on Decision and Control, vol. 3, pp. 2112–2117 (1999)Google Scholar
  5. 5.
    Aicardi, M., Casalino, G., Bicchi, A., Balestrino, A.: Closed loop steering of unicycle-like vehicle via Lyapunov techniques. IEEE Robot. Autom. Mag. 2(1), 27–35 (1995)CrossRefGoogle Scholar
  6. 6.
    Ohtsuka, T.: Introduction to Nonlinear Optimal Control. Corona Co., Ltd., Tokyo (2011). (in Japanese)Google Scholar
  7. 7.
    Maciejowski, J., Adachi, S.: Predictive Control with Constraints. Tokyo Electric University Press, Tokyo (2005). (in Japanese)Google Scholar
  8. 8.
    Ohtsuka, T.: Control of Distributed Parameter Systems and Nonlinear Systems in Aerospace Engineering. Doctoral Dissertation, Tokyo Metropolitan Institute of Technology (1994)Google Scholar
  9. 9.
    Chen, H., Allgower, F.: A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability. Automatica 33(10), 1205–1217 (1998)MathSciNetCrossRefGoogle Scholar
  10. 10.
    Jadbabaie, A., Yu, J., Hauser, J.: Unconstrained receding-horizon control of nonlinear systems. IEEE Trans. Autom. Control 46(4), 776–783 (2001)MathSciNetCrossRefGoogle Scholar
  11. 11.
    Mayne, D.Q., Rawlings, J.B., Rao, C.V., Scokaert, P.O.M.: Constrained model predictive control: stability and optimality. Automatica 36(6), 789–814 (2000)MathSciNetCrossRefGoogle Scholar
  12. 12.
    Yorozu, A., Takahashi, M.: Navigation for gait measurement robot evaluating dual-task performance considering following human in living space. In: Workshop on Assistance and Service Robotics in a Human Environment (ASROB-2016) in Conjunction with IEEE/RSJ International Conference on Intelligent Robots and Systems (2016–2014), Daejeon, Korea (2016)Google Scholar
  13. 13.
    Hokuyo Automatic Co., Ltd., Homepage. http://www.hokuyo-aut.jp/. Accessed Jan 2018

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Shunichi Sekiguchi
    • 1
  • Ayanori Yorozu
    • 2
  • Kazuhiro Kuno
    • 3
  • Masaki Okada
    • 3
  • Yutaka Watanabe
    • 3
  • Masaki Takahashi
    • 1
  1. 1.Department of System Design EngineeringKeio UniversityKohokuku, YokohamaJapan
  2. 2.Graduate School of Science and TechnologyKeio UniversityKohoku-ku, YokohamaJapan
  3. 3.EQUOS RESEARCH Co., Ltd.AnjoJapan

Personalised recommendations