Abstract
This paper describes the path planning of a three-wheel omni-directional mobile robot (OMR) with the harmonic potential function using a model predictive control (MPC). The harmonic potential function outperforms the artificial potential function, for there is no local minimum. A three wheel omni-directional mobile robot’s motion is achieved by using three independent motors which can make it move in any direction. The main enthusiasm for using MPC in the study relies on its ability to naturally state and control constraints in practical problems. Simulation results show that OMR finds a suitable path by harmonic potential function and follows the path accurately by MPC. Adding some improvement methods can get a more efficient path than the original harmonic potential method.
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Acknowledgments
This research was supported in part by the key research and development program of Jiangsu 257 (BE2017071 and BE2017647), and projects of international cooperation and exchanges of Changzhou 258 (CZ20170018), and National Nature Science Foundation (NSFC) under Grant 61473120.
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Liu, X., Chen, H., Wang, C., Hu, F., Yang, X. (2018). MPC Control and Path Planning of Omni-Directional Mobile Robot with Potential Field Method. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_15
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DOI: https://doi.org/10.1007/978-3-319-97589-4_15
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