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

Ghazaei Ardakani, M. Mahdi LU ; Olofsson, Bjorn LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2019) In IEEE Transactions on Automation Science and Engineering 16(2). p.972-983
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 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... (More)

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.

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Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Computational modeling, Model predictive control (MPC), Optimization, Planning, real-time control, Real-time systems, Robot sensing systems, robotics, Trajectory, trajectory generation, trajectory optimization.
in
IEEE Transactions on Automation Science and Engineering
volume
16
issue
2
pages
12 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85059007558
ISSN
1545-5955
DOI
10.1109/TASE.2018.2882764
project
RobotLab LTH
PRACE
SMErobotics
language
English
LU publication?
yes
id
463e2205-4778-4198-9147-e1d33fd73b5e
date added to LUP
2019-01-09 12:41:29
date last changed
2023-04-24 22:01:12
@article{463e2205-4778-4198-9147-e1d33fd73b5e,
  abstract     = {{<p>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.</p>}},
  author       = {{Ghazaei Ardakani, M. Mahdi and Olofsson, Bjorn and Robertsson, Anders and Johansson, Rolf}},
  issn         = {{1545-5955}},
  keywords     = {{Computational modeling; Model predictive control (MPC); Optimization; Planning; real-time control; Real-time systems; Robot sensing systems; robotics; Trajectory; trajectory generation; trajectory optimization.}},
  language     = {{eng}},
  month        = {{04}},
  number       = {{2}},
  pages        = {{972--983}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Transactions on Automation Science and Engineering}},
  title        = {{Model Predictive Control for Real-Time Point-to-Point Trajectory Generation}},
  url          = {{http://dx.doi.org/10.1109/TASE.2018.2882764}},
  doi          = {{10.1109/TASE.2018.2882764}},
  volume       = {{16}},
  year         = {{2019}},
}