Model Predictive Control for Real-Time Point-to-Point Trajectory Generation

Forskningsoutput: TidskriftsbidragArtikel i vetenskaplig tidskrift


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 propose an approach based on model predictive control to solve the problem of point-to-point trajectory generation for a given final time. We discuss various choices of models, objective functions, and constraints for generating trajectories to transfer the state of the robot, while respecting physical limitations on the motion as well as fulfilling computational real-time requirements. Extensive simulation results illustrate the use of the approach, and experiments on an industrial robot in a challenging ball-catching task show the effectiveness of the approach also in demanding scenarios with real-time constraints on the computation.


Enheter & grupper
Externa organisationer
  • Italian Institute of Technology

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik


Sidor (från-till)972-983
TidskriftIEEE Transactions on Automation Science and Engineering
Tidigt onlinedatum2018 dec 24
StatusPublished - 2019 apr 6
Peer review utfördJa

Related projects

Elin Anna Topp, Jacek Malec, Klas Nilsson, Björn Olofsson, Rolf Johansson, Mathias Haage, Anders Robertsson, Karl Berntorp, Olof Sörnmo & Mahdi Ghazaei Ardakani


Projekt: Forskning

Andreas Stolt, Anders Robertsson, Björn Olofsson, Rolf Johansson, Jacek Malec, Maj Stenmark, Mahdi Ghazaei Ardakani & Klas Nilsson


Projekt: Forskning

Fredrik Bagge Carlson, Isolde Dressler, Mahdi Ghazaei Ardakani, Rolf Johansson, Martin Karlsson, Magnus Linderoth, Björn Olofsson, Tomas Olsson, Anders Robertsson, Olof Sörnmo, Andreas Stolt, Sven Robertz, Mathias Haage, Jacek Malec, Klas Nilsson, Pierre Nugues, Maj Stenmark & Elin Anna Topp


Projekt: Forskning

Visa alla (3)

Relaterad infrastruktur

Visa alla (1)