2017 Fiscal Year Final Research Report
Cooperative and Distributed Model Model Predictive Control for Leg / Wheel Mobile Robots
| Project/Area Number |
15K06155
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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/System engineering
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| Research Institution | Tokyo City University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Keywords | 最適制御 / 組込みシステム / 移動ロボット / モデル予測制御 / 分散制御 / テラメカニクス / 脚車輪型移動ロボット / ローバー |
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| Outline of Final Research Achievements |
Leg/wheel mobile robots are capable of fast and adaptive locomotion on rough and complex terrain. But their controller CPU is generally slow because of reliability and robustness.
In this study, we applied model predictive control (MPC) which is known as a real-time optimal control incorporating various constraints. To reduce its computational cost, we partitioned the robot model into soft-constrained legs and applied a tailored MPC. Through multibody dynamics simulator with terra mechanics for three dimensional model and several experiments for planar model, we showed that the proposed method is effective and its computation is fast enough comparing with the conventional methods.
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| Free Research Field |
制御工学
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