Enhancing stability and safety:A novel multi-constraint model predictive control approach for forklift trajectory

作     者：Yizhen Sun Junyou Yang Donghui Zhao Moses Chukwuka Okonkwo Jianmin Zhang Shuoyu Wang Yang Liu 

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：

学科分类：0401[教育学-教育学] 04[教育学] 

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.