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A caster-wheel-aware MPC-based motion planner for mobile robotics [article]

Jon Arrizabalaga, Niels van Duijkeren, Markus Ryll, Ralph Lange
2021 arXiv   pre-print
To do so, we present a caster-wheel-aware term that is compatible with MPC-based control methods, leveraging the existence of caster wheels in the motion planning stage.  ...  Differential drive mobile robots often use one or more caster wheels for balance.  ...  Contributions We present a caster-wheel-aware term that can be embedded in MPC-based navigation algorithms, such as trajectory tracking or path following, and is directly applicable to any mobile-robot  ... 
arXiv:2110.05604v1 fatcat:e2hjzvxnejfe3oycovi6pkavq4

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements The authors wish to acknowledge the support of the Natural Science and Engineering Research Council of Canada, the Institute for Robotic and Intelligent Systems (IRIS) and Precam Associates  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy