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MPC-based high-speed trajectory tracking for 4WIS robot.

Xinxin Liu1, Wei Wang1, Xuelong Li1

  • 1Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Hubei Wuhan 430072, China; School of Power and Mechanical Engineering, Wuhan University, Hubei Wuhan, 430072, China.

ISA Transactions
|May 30, 2021
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Summary
This summary is machine-generated.

This study introduces a new trajectory tracking method for four-wheel independent steering (4WIS) robots, improving high-speed maneuverability. The approach enhances precision by integrating robot dynamics into path and trajectory planning.

Keywords:
4WIS robotHigh-speed trajectory trackingMPC

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Area of Science:

  • Robotics
  • Control Systems
  • Mechatronics

Background:

  • Four-wheel independent steering (4WIS) robots offer superior efficiency compared to omnidirectional and Mecanum wheel robots.
  • 4WIS robots are increasingly favored for high-speed, maneuverable mobile applications.
  • Challenges in high-precision, high-speed trajectory tracking arise from steering motor delays and command speed limitations.

Purpose of the Study:

  • To develop an effective high-speed trajectory tracking method for 4WIS robots.
  • To address limitations in steering motor response and control commands.
  • To enhance the precision and practicability of 4WIS robot navigation.

Main Methods:

  • Path planning using the A* algorithm.
  • Trajectory planning incorporating 4WIS robot dynamics.
  • Development of a model predictive control (MPC) controller with dynamic constraints.
  • Establishment of a 4WIS robot kinematics model.

Main Results:

  • The proposed method effectively integrates robot dynamics for trajectory planning.
  • A kinematics model and MPC controller with dynamic constraints were successfully established.
  • Simulations and experimental validation confirmed the method's effectiveness and practicability.
  • High-speed trajectory tracking control for 4WIS robots was achieved.

Conclusions:

  • The developed trajectory tracking method significantly improves the performance of 4WIS robots.
  • The integration of robot dynamics and MPC with dynamic constraints is crucial for precise high-speed control.
  • The findings demonstrate a practical solution for advanced mobile robot navigation.