Adaptive nonlinear MPC for efficient trajectory tracking applied to autonomous mining skid-steer mobile robots

Alvaro Javier Prado, Danilo Chavez, Oscar Camacho, Miguel Torres-Torriti, Fernando Auat Cheein

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

The heterogeneous nature of the navigation surface suggests adaptation capabilities in vehicle motion control to overcome the effects of the wheel-terrain interaction. In such scenario, this paper presents an integral adaptive control framework built upon a Nonlinear Moving Horizon Estimator and a Nonlinear Model Predictive Control scheme, under which the objective is to on-line estimate states and model parameters of a robot motion model while autonomously navigating in off-road terrain conditions. With an adjustable model, the controller is made adaptive against terrain changes while tracking prescribed trajectories. The system is composed by two coupled subsystems to represent the vehicle motion and tire slip dynamics. The combined control-estimation strategy works under the Real-Time Iteration scheme to attain reliable computational activity for high-speed tire dynamics (e.g., slip). Trials in a simulation and real test environment with a compact mini-loader Cat® 262C, as those found in the mining industry, showed that the approach is able to efficiently estimate states and model parameters without exceeding constraints. The analysis of computational efficiency in various hardware configurations is also provided, exhibiting that the rapid optimization involved in the proposed controller is possible for high-speed dynamics.

Idioma originalInglés
Título de la publicación alojada2020 IEEE ANDESCON, ANDESCON 2020
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728193656
DOI
EstadoPublicada - 13 oct. 2020
Publicado de forma externa
Evento2020 IEEE ANDESCON, ANDESCON 2020 - Quito, Ecuador
Duración: 13 oct. 202016 oct. 2020

Serie de la publicación

Nombre2020 IEEE ANDESCON, ANDESCON 2020

Conferencia

Conferencia2020 IEEE ANDESCON, ANDESCON 2020
País/TerritorioEcuador
CiudadQuito
Período13/10/2016/10/20

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