NONLINEAR MODEL PREDICTIVE CONTROL OF OMNIDIRECTIONAL ROBOTS USING A SPRAYING UNIT

ROCCO GALATI; GIACOMO MANTRIOTA; GIULIO REINA

doi:10.57272/jciftomm.5.0_103

Vol. 5 (2022)

DOI https://doi.org/10.57272/jciftomm.5.0_103

Conference information

Host: Japanese Council of IFToMM

Name : The 5th Jc-IFToMM International Symposium (in conjunction with The 28th Jc-IFToMM Symposium on Mechanism and Machine Theory)

Location : Kyoto, Japan

Date : July 16, 2022 -

Proceedings

NONLINEAR MODEL PREDICTIVE CONTROL OF OMNIDIRECTIONAL ROBOTS USING A SPRAYING UNIT

*ROCCO GALATI, GIACOMO MANTRIOTA, GIULIO REINA

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CONFERENCE PROCEEDINGS OPEN ACCESS

Pages 103-109

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Abstract

In this article, the results of nonlinear model predictive controllers that are used to generate optimized trajectories of omnidirectional robots equipped with spraying units for the perimeter of hazardous areas inside warehouses are presented, using a nonlinear model predictive controller. Results are provided for various trajectories along with consideration of controller performance.

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