Article (Scientific journals)
Collaborative Nonlinear Model-Predictive Motion Planning and Control of Mobile Transport Robots for a Highly Flexible Production System
Wangmanaopituk, Suparchoek; Voos, Holger; Kongprawechnon, Waree
2010In ScienceAsia, 36 (4), p. 333-341
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Keywords :
Mobile Robotics; Flexible manufacturing; model predictive control
Abstract :
[en] This study is based on a new approach for an advanced microproduction system or highly flexible production systems where all necessary production and assembly processes are connected in a very flexible way using autonomous mobile transport and handling robots. Each robot has to follow its planned paths while avoiding collisions with other robots. In addition, problem-specific constraints for a defined microproduction system, such as limitations of the velocity and accelerations of the robots, have to be fulfilled. This paper focuses on a two-level model predictive optimizing approach. On a global long-term level, simple dynamic models of the robots are used to compute optimal paths under differential constraints where a safety distance between all robots is achieved. Since many uncertainties and unforeseen events could occur, all robots also use a nonlinear model predictive control approach on a local real-time level. This control approach solves the path following and the collision avoidance problems in parallel, while also taking into account differential constraints of the single robots.
Disciplines :
Computer science
Electrical & electronics engineering
Identifiers :
UNILU:UL-ARTICLE-2012-347
Author, co-author :
Wangmanaopituk, Suparchoek;  Sirindhorn International Institute of Technology, Thammasat University, Thailand > School of Information, Computer and Communication Technology
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Kongprawechnon, Waree;  Sirindhorn International Institute of Technology, Thammasat University, Thailand > School of Information, Computer and Communication Technology
Language :
English
Title :
Collaborative Nonlinear Model-Predictive Motion Planning and Control of Mobile Transport Robots for a Highly Flexible Production System
Publication date :
12 October 2010
Journal title :
ScienceAsia
ISSN :
1513-1874
Publisher :
Science Society of Thailand, Bangkok, Thailand
Volume :
36
Issue :
4
Pages :
333-341
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBilu :
since 07 July 2014

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