Conference article

Model predictive allocation control for leg-wheel mobile robot on loose soil considering wheel dynamics

Takatsugu Oda
Mechanical systems engineering, Tokyo city university, Japan

Hiroki Yoshikawa
Mechanical systems engineering, Tokyo city university, Japan

Naoki Shibata
Mechanical systems engineering, Tokyo city university, Japan

Kenichiro Nonaka
Mechanical systems engineering, Tokyo city university, Japan

Kazuma Sekiguchi
Mechanical systems engineering, Tokyo city university, Japan

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Published in: Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018

Linköping Electronic Conference Proceedings 148:33, p. 240-244

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Published: 2019-02-21

ISBN: 978-91-7685-266-8

ISSN: 1650-3686 (print), 1650-3740 (online)


For the planetary exploration rover, to cope with the layer of heterogeneous superficial deposits called regolith is important so as to achieve designed traction. In order to consider effects of wheel motion, model predictive allocation control is proposed. To cope with complex terramechanics in MPC (model predictive control), the identification technique is introduced; the proposed MPC is formed as a linear optimization problem. The rover model and terramechanics are described using model-ica and simulate to evaluate the performance of the proposed method. The suppressed of superfluous slip and enhancement of traction performance is numerically shown.


Terramechanics, Allocation control, Model predictive control, Model identification.


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