TechRxiv
paper-extended.pdf (2.48 MB)
Download file

Following A Dynamic Object Through A Transient Response Adjustable MPC (Extended Version)

Download (2.48 MB)
preprint
posted on 2021-07-26, 21:07 authored by Sanghyun HongSanghyun Hong, Justin Miller, Jianbo Lu
We developed an MPC motion controller for a mobile robot to follow a dynamic object. The main contribution is to find an adjustable transient response characteristic in a special formulation of MPC and apply to a real robot platform.

History

Email Address of Submitting Author

shong7@ford.com

Submitting Author's Institution

Research & Advanced Engineering, Ford Motor Company

Submitting Author's Country

  • United States of America

Usage metrics

    Categories

    Keywords

    Mobile RobotMotion ControlTransient ResponseModel predictive control (MPC)

    Licence

    CC BY-NC-SA 4.0

    Exports