Robotics, Vol. 12, Pages 78: Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses

Robotics, Vol. 12, Pages 78: Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses

Robotics doi: 10.3390/robotics12030078

Authors: Rocco Galati Giacomo Mantriota

This paper presents results coming from a non-linear model predictive controller used to generate optimized trajectories specifically for an omnidirectional robot equipped with a spraying unit to mark on the floor the perimeter of dangerous areas or to move large palletized goods inside warehouses. Results on different trajectories and with moving obstacles are provided along with considerations on the controller performance.