Implementation of Model Predictive Control into embedded CPU and Application to Mobile Robots
| Project/Area Number |
24560555
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Tokyo City University |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | モデル予測制御 / 組込みシステム / 移動ロボット / 非線形制御 / 座標変換 |
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| Outline of Final Research Achievements |
Model predictive control (MPC) is an optimal control method which realizes optimized motion with satisfaction of constraints, while the computational cost has been challenging issue.
In this study, we applied nonlinear transformation of input and state, prevention of interrupt on optimization and reduction of order by incorporating the constraints into the stage cost to achieve the following results: (a) tracking control for four-wheel omnidirectional robots with prevention of switching and saturation of steering, and (b) obstacle avoidance and parking control of front steering vehicles.
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Report
(4 results)
Research Products
(27 results)
