Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments
Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differenti...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/1/48 |
| _version_ | 1797540920013357056 |
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| author | Mahmood Reza Azizi Alireza Rastegarpanah Rustam Stolkin |
| author_facet | Mahmood Reza Azizi Alireza Rastegarpanah Rustam Stolkin |
| author_sort | Mahmood Reza Azizi |
| collection | DOAJ |
| description | Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles. |
| first_indexed | 2024-03-10T13:08:50Z |
| format | Article |
| id | doaj.art-94d5088627014a5c8ad5423d579727d7 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T13:08:50Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-94d5088627014a5c8ad5423d579727d72023-11-21T10:56:01ZengMDPI AGRobotics2218-65812021-03-011014810.3390/robotics10010048Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic EnvironmentsMahmood Reza Azizi0Alireza Rastegarpanah1Rustam Stolkin2Department of Metallurgy and Materials Science, University of Birmingham, Edgbaston, Birmingham B15 2TT, UKDepartment of Metallurgy and Materials Science, University of Birmingham, Edgbaston, Birmingham B15 2TT, UKDepartment of Metallurgy and Materials Science, University of Birmingham, Edgbaston, Birmingham B15 2TT, UKMotion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.https://www.mdpi.com/2218-6581/10/1/48omnidirectional mobile robotKane’s dynamicsmodel predictive controlvelocity obstaclesobstacle avoidance |
| spellingShingle | Mahmood Reza Azizi Alireza Rastegarpanah Rustam Stolkin Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments Robotics omnidirectional mobile robot Kane’s dynamics model predictive control velocity obstacles obstacle avoidance |
| title | Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments |
| title_full | Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments |
| title_fullStr | Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments |
| title_full_unstemmed | Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments |
| title_short | Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments |
| title_sort | motion planning and control of an omnidirectional mobile robot in dynamic environments |
| topic | omnidirectional mobile robot Kane’s dynamics model predictive control velocity obstacles obstacle avoidance |
| url | https://www.mdpi.com/2218-6581/10/1/48 |
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