TY - GEN
T1 - Trajectory Tracking Control of a Tracked Mobile Robot with a Passive Bio-Inspired Suspension∗
AU - Li, Zhengchao
AU - Jing, Xingjian
AU - Yu, Jinyong
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - A tracked mobile robot with a novel passive suspension system has been developed. The novel passive suspension system is constructed by using a bio-inspired animal-limb-like structure. A double layer nonlinear model predictive control (NMPC) architecture is adopted for the optimization of trajectory tracking. The upper layer NMPC is performed at a low frequency to optimize the global trajectory tracking performance, and the lower layer NMPC is performed at a high frequency to capture the local dynamics, like slippage and obstacle negotiation. An indoor environment experiment demonstrates that the novel passive suspension can efficiently absorb the strong shock induced by the process of obstacle crossing and hence guarantee the smooth motion and the double layer NMPC can effectively improve the trajectory tracking accuracy.
AB - A tracked mobile robot with a novel passive suspension system has been developed. The novel passive suspension system is constructed by using a bio-inspired animal-limb-like structure. A double layer nonlinear model predictive control (NMPC) architecture is adopted for the optimization of trajectory tracking. The upper layer NMPC is performed at a low frequency to optimize the global trajectory tracking performance, and the lower layer NMPC is performed at a high frequency to capture the local dynamics, like slippage and obstacle negotiation. An indoor environment experiment demonstrates that the novel passive suspension can efficiently absorb the strong shock induced by the process of obstacle crossing and hence guarantee the smooth motion and the double layer NMPC can effectively improve the trajectory tracking accuracy.
KW - passive bio-inspired suspension system
KW - tracked mobile robot
KW - trajectory tracking control
UR - https://www.scopus.com/pages/publications/85067111530
U2 - 10.1109/ICMECH.2019.8722895
DO - 10.1109/ICMECH.2019.8722895
M3 - 会议稿件
AN - SCOPUS:85067111530
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 114
EP - 119
BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -