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.
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
