Research articles
ScienceAsia (): 333-341 |doi:
10.2306/scienceasia1513-1874...333
Collaborative nonlinear model-predictive motion planning and control of mobile transport robots for a highly flexible production system
Suparchoek Wangmanaopituka,*, Holger Voosb, Waree Kongprawechnona
ABSTRACT: This study is based on a new approach for an advanced microproduction system or highly flexible production systems where all necessary production and assembly processes are connected in a very flexible way using autonomous mobile transport and handling robots. Each robot has to follow its planned paths while avoiding collisions with other robots. In addition, problem-specific constraints for a defined microproduction system, such as limitations of the velocity and accelerations of the robots, have to be fulfilled. This paper focuses on a two-level model predictive optimizing approach. On a global long-term level, simple dynamic models of the robots are used to compute optimal paths under differential constraints where a safety distance between all robots is achieved. Since many uncertainties and unforeseen events could occur, all robots also use a nonlinear model predictive control approach on a local real-time level. This control approach solves the path following and the collision avoidance problems in parallel, while also taking into account differential constraints of the single robots.
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School of Information, Computer and Communication Technology, Sirindhorn International Institute of Technology, Thammasat University, P.O. Box 22, Thammasat-Rangsit Post Office Pathum Thani 12121, Thailand |
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Automatic Control Laboratory, Research Unit in Engineering, University of Luxembourg, Campus Kirchberg, 6 rue Coudenhove-Kalergi, L-1359, Luxembourg-Kirchberg |
* Corresponding author, E-mail: suparchoek_w@yahoo.com
Received 24 May 2010, Accepted 19 Oct 2010
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