Real-Time Trajectory Generation Using Model Predictive Control

Mahdi Ghazaei, Björn Olofsson, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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Abstract

The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We consider Model Predictive Control as an approach to the problem of point-to-point trajectory generation. We use the developed strategy to generate trajectories for transferring the state of the robot, fulfilling computational real-time requirements. Experiments on an industrial robot in a ball-catching scenario show the effectiveness of the approach.
Original languageEnglish
Title of host publication2015 IEEE Conference on Automation Science and Engineering (CASE)
Subtitle of host publicationAutomation for a Sustainable Future
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages942 - 948
Publication statusPublished - 2015 Aug 24
EventIEEE International Conference on Automation Science and Engineering (IEEE CASE 2015) - Gothenburg
Duration: 2015 Aug 242015 Aug 28

Conference

ConferenceIEEE International Conference on Automation Science and Engineering (IEEE CASE 2015)
Period2015/08/242015/08/28

Bibliographical note

[Finalist for Best Student Paper Award]

Subject classification (UKÄ)

  • Robotics
  • Control Engineering

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