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作者机构:School of Electrical EngineeringShenyang University of TechnologyShenyangChina Intelligent Robot LaboratoryShenyang Open UniversityShenyangChina School of Information EngineeringShenyang UniversityShenyangChina Department of Intelligent Mechanical Systems EngineeringKochi University of TechnologyKochiJapan
出 版 物:《IET Cyber-Systems and Robotics》 (智能系统与机器人(英文))
年 卷 期:2024年第6卷第4期
页 面:32-47页
核心收录:
基 金:Natural Science Foundation of Shenyang Municipality,Grant/Award Number:22-315-6‐-02 111 Project,Grant/Award Number:D23005
主 题:automatic guided vehicles mobile robots robot manipulator tracking control
摘 要:The advancements in intelligent manufacturing have made high-precision trajectory tracking technology crucial for improving the efficiency and safety of in-factory cargo *** study addresses the limitations of current forklift navigation systems in trajectory control accuracy and stability by proposing the Enhanced Stability and Safety Model Predictive Control(ESS-MPC)*** approach includes a multi-constraint strategy for improved stability and *** kinematic model for a single front steeringwheel forklift vehicle is constructed with all known state quantities,including the steering angle,resulting in a more accurate model description and trajectory *** ensure vehicle safety,the spatial safety boundary obtained from the trajectory planning module is established as a hard constraint for ESS-MPC *** optimisation constraints are also updated with the key kinematic and dynamic parameters of the *** ESSMPC method improved the position and pose accuracy and stability by 57.93%,37.83%,and 57.51%,respectively,as demonstrated through experimental validation using simulation and real-world *** study provides significant support for the development of autonomous navigation systems for industrial forklifts.