Nonlinear model predictive control for two-wheeled service robots

Shunichi Sekiguchi; Ayanori Yorozu; Kazuhiro Kuno; Masaki Okada; Yutaka Watanabe; Masaki Takahashi

doi:10.1007/978-3-030-01370-7_36

Nonlinear model predictive control for two-wheeled service robots

Shunichi Sekiguchi, Ayanori Yorozu, Kazuhiro Kuno, Masaki Okada, Yutaka Watanabe, Masaki Takahashi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.

Original language	English
Title of host publication	Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
Editors	Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
Publisher	Springer Verlag
Pages	452-463
Number of pages	12
ISBN (Print)	9783030013691
DOIs	https://doi.org/10.1007/978-3-030-01370-7_36
Publication status	Published - 2019 Jan 1
Event	15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany Duration: 2018 Jun 11 → 2018 Jun 15

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	867
ISSN (Print)	2194-5357

Other

Other	15th International Conference on Intelligent Autonomous Systems, IAS 2018
Country/Territory	Germany
City	Baden-Baden
Period	18/6/11 → 18/6/15

Keywords

Non-holonomic system
Nonlinear Model Predictive Control
Service robots
Two-wheeled robots

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science(all)

Access to Document

10.1007/978-3-030-01370-7_36

Cite this

Sekiguchi, S., Yorozu, A., Kuno, K., Okada, M., Watanabe, Y., & Takahashi, M. (2019). Nonlinear model predictive control for two-wheeled service robots. In R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (Eds.), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 452-463). (Advances in Intelligent Systems and Computing; Vol. 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_36

Nonlinear model predictive control for two-wheeled service robots. / Sekiguchi, Shunichi; Yorozu, Ayanori; Kuno, Kazuhiro et al.
Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. ed. / Rüdiger Dillmann; Emanuele Menegatti; Stefano Ghidoni; Marcus Strand. Springer Verlag, 2019. p. 452-463 (Advances in Intelligent Systems and Computing; Vol. 867).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sekiguchi, S, Yorozu, A, Kuno, K, Okada, M, Watanabe, Y & Takahashi, M 2019, Nonlinear model predictive control for two-wheeled service robots. in R Dillmann, E Menegatti, S Ghidoni & M Strand (eds), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Advances in Intelligent Systems and Computing, vol. 867, Springer Verlag, pp. 452-463, 15th International Conference on Intelligent Autonomous Systems, IAS 2018, Baden-Baden, Germany, 18/6/11. https://doi.org/10.1007/978-3-030-01370-7_36

Sekiguchi S, Yorozu A, Kuno K, Okada M, Watanabe Y, Takahashi M. Nonlinear model predictive control for two-wheeled service robots. In Dillmann R, Menegatti E, Ghidoni S, Strand M, editors, Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Springer Verlag. 2019. p. 452-463. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-01370-7_36

Sekiguchi, Shunichi ; Yorozu, Ayanori ; Kuno, Kazuhiro et al. / Nonlinear model predictive control for two-wheeled service robots. Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. editor / Rüdiger Dillmann ; Emanuele Menegatti ; Stefano Ghidoni ; Marcus Strand. Springer Verlag, 2019. pp. 452-463 (Advances in Intelligent Systems and Computing).

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Nonlinear model predictive control for two-wheeled service robots

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