Optimal trajectory generation using MPC in robotino and its implementation with ROS system
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Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017: Proceedings. Piscataway: IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. S. 1642-1647 8001493 (IEEE International Symposium on Industrial Electronics).
Publikation: Beiträge in Sammelwerken › Aufsätze in Sammelwerken › Forschung › begutachtet
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TY - CHAP
T1 - Optimal trajectory generation using MPC in robotino and its implementation with ROS system
AU - Mercorelli, Paolo
AU - Voss, Thomas
AU - Straßberger, Daniel
AU - Sergiyenko, Oleg
AU - Lindner, Lars
PY - 2017/8/3
Y1 - 2017/8/3
N2 - Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.
AB - Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.
KW - Engineering
KW - Controllers
KW - ndustrial electronics
KW - Motion control
KW - Predictive control systems
KW - Robots
KW - Model predictive control
KW - motion control
KW - ROS
UR - http://ieeexplore.ieee.org/abstract/document/8001493/
UR - http://www.scopus.com/inward/record.url?scp=85029897635&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2017.8001493
DO - 10.1109/ISIE.2017.8001493
M3 - Contributions to collected editions/anthologies
T3 - IEEE International Symposium on Industrial Electronics
SP - 1642
EP - 1647
BT - Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
CY - Piscataway
ER -