Path-Following Model Predictive Control of Ballbots

Thomas Kølbæk Jespersen; Mohamad Al Ahdab; Juan de Dios Flores Méndez; Malte Rørmose Damgaard; Karl Damkjær Hansen; Rasmus Pedersen; Thomas Bak

doi:10.1109/ICRA40945.2020.9196634

Path-Following Model Predictive Control of Ballbots

Bidragets oversatte titel: Rutefølgende Model Prædiktiv Regulering af Ballbots

Thomas Kølbæk Jespersen, Mohamad Al Ahdab, Juan de Dios Flores Méndez, Malte Rørmose Damgaard, Karl Damkjær Hansen, Rasmus Pedersen, Thomas Bak

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

3 Citationer (Scopus)

216 Downloads (Pure)

Abstract

This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is extended to handle nearby obstacles directly in the MPC formulation. The presented controller is validated through simulation on a high fidelity model as well as through real-world experiments on a physical ballbot system.

Bidragets oversatte titel	Rutefølgende Model Prædiktiv Regulering af Ballbots
Originalsprog	Engelsk
Titel	2020 IEEE International Conference on Robotics and Automation (ICRA)
Antal sider	7
Forlag	IEEE
Publikationsdato	15 sep. 2020
Sider	1498-1504
Artikelnummer	9196634
ISBN (Trykt)	978-1-7281-7396-2
ISBN (Elektronisk)	978-1-7281-7395-5
DOI	https://doi.org/10.1109/ICRA40945.2020.9196634
Status	Udgivet - 15 sep. 2020
Begivenhed	2020 IEEE International Conference on Robotics and Automation - Varighed: 31 maj 2020 → 31 aug. 2020 http://www.icra2020.org

Konference

Konference	2020 IEEE International Conference on Robotics and Automation
Periode	31/05/2020 → 31/08/2020
Internetadresse	http://www.icra2020.org

Navn	I E E E International Conference on Robotics and Automation
ISSN	2152-4092

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10.1109/ICRA40945.2020.9196634

Path-following Model Predictive Control of BallbotsAccepteret manuskript, 1,64 MB

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Robot Digital Signage
Bak, T., Hansen, K. D., Pedersen, R. & Hansen, S. T.
01/02/2018 → 01/02/2021
Projekter: Projekt › Forskning

Citationsformater

@inproceedings{ff172b8df8384fae9e9914f7bad7b001,

title = "Path-Following Model Predictive Control of Ballbots",

abstract = "This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is extended to handle nearby obstacles directly in the MPC formulation. The presented controller is validated through simulation on a high fidelity model as well as through real-world experiments on a physical ballbot system.",

author = "Jespersen, {Thomas K{\o}lb{\ae}k} and Ahdab, {Mohamad Al} and M{\'e}ndez, {Juan de Dios Flores} and Damgaard, {Malte R{\o}rmose} and Hansen, {Karl Damkj{\ae}r} and Rasmus Pedersen and Thomas Bak",

year = "2020",

month = sep,

day = "15",

doi = "10.1109/ICRA40945.2020.9196634",

language = "English",

isbn = "978-1-7281-7396-2",

series = "I E E E International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "1498--1504",

booktitle = "2020 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2020 IEEE International Conference on Robotics and Automation ; Conference date: 31-05-2020 Through 31-08-2020",

url = "http://www.icra2020.org",

}

Jespersen, TK, Ahdab, MA, Méndez, JDDF, Damgaard, MR, Hansen, KD, Pedersen, R & Bak, T 2020, Path-Following Model Predictive Control of Ballbots. i 2020 IEEE International Conference on Robotics and Automation (ICRA)., 9196634, IEEE, I E E E International Conference on Robotics and Automation, s. 1498-1504, 2020 IEEE International Conference on Robotics and Automation, 31/05/2020. https://doi.org/10.1109/ICRA40945.2020.9196634

Path-Following Model Predictive Control of Ballbots. / Jespersen, Thomas Kølbæk; Ahdab, Mohamad Al; Méndez, Juan de Dios Flores et al.
2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. s. 1498-1504 9196634 (I E E E International Conference on Robotics and Automation).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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AU - Ahdab, Mohamad Al

AU - Méndez, Juan de Dios Flores

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AU - Hansen, Karl Damkjær

AU - Pedersen, Rasmus

AU - Bak, Thomas

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AB - This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is extended to handle nearby obstacles directly in the MPC formulation. The presented controller is validated through simulation on a high fidelity model as well as through real-world experiments on a physical ballbot system.

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Path-Following Model Predictive Control of Ballbots

Abstract

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