The Simulation of Nonlinear Model Predictive Control for a Human-following Mobile Robot

Ziyou Wang, Jun Kinugawa, Hongbo Wang, Kosuge Kazuhiro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposed a novel control frame to deal with the human following issue of an omnidirectional mobile robot. The control input is calculated based on the prediction of human motion. The prediction of human motion is performed by means of a hybrid kinematics model. This model describes the different phases in the human walking. A nonlinear model predictive control(NMPC) is used to construct the control frame. In this control frame, the optimal control input is generated by means of the prediction of the motion of human with the consideration of the nonlinear kinematics model and hardware limitations of the omnidirectional mobile robot. Experimental and simulation results are provided to demonstrate the efficiency of the walking model and proposed controller.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages415-422
Number of pages8
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 2015 Jan 1
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
Duration: 2015 Dec 62015 Dec 9

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Other

OtherIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
CountryChina
CityZhuhai
Period15/12/615/12/9

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

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  • Cite this

    Wang, Z., Kinugawa, J., Wang, H., & Kazuhiro, K. (2015). The Simulation of Nonlinear Model Predictive Control for a Human-following Mobile Robot. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 415-422). [7418803] (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7418803