Enhancing stability and safety:A novel multi-constraint model predictive control approach for forklift trajectory  

作　　者：Yizhen Sun Junyou Yang Donghui Zhao Moses Chukwuka Okonkwo Jianmin Zhang Shuoyu Wang Yang Liu 

机构地区：[1]School of Electrical Engineering,Shenyang University of Technology,Shenyang,China [2]Intelligent Robot Laboratory,Shenyang Open University,Shenyang,China [3]School of Information Engineering,Shenyang University,Shenyang,China [4]Department of Intelligent Mechanical Systems Engineering,Kochi University of Technology,Kochi,Japan

出　　处：《IET Cyber-Systems and Robotics》2024年第4期32-47,共16页智能系统与机器人(英文)

基　　金：Natural Science Foundation of Shenyang Municipality,Grant/Award Number:22-315-6‐-02;111 Project,Grant/Award Number:D23005。

摘　　要：The advancements in intelligent manufacturing have made high-precision trajectory tracking technology crucial for improving the efficiency and safety of in-factory cargo transportation.This study addresses the limitations of current forklift navigation systems in trajectory control accuracy and stability by proposing the Enhanced Stability and Safety Model Predictive Control(ESS-MPC)method.This approach includes a multi-constraint strategy for improved stability and safety.The kinematic model for a single front steeringwheel forklift vehicle is constructed with all known state quantities,including the steering angle,resulting in a more accurate model description and trajectory prediction.To ensure vehicle safety,the spatial safety boundary obtained from the trajectory planning module is established as a hard constraint for ESS-MPC tracking.The optimisation constraints are also updated with the key kinematic and dynamic parameters of the forklift.The ESSMPC method improved the position and pose accuracy and stability by 57.93%,37.83%,and 57.51%,respectively,as demonstrated through experimental validation using simulation and real-world environments.This study provides significant support for the development of autonomous navigation systems for industrial forklifts.

关 键 词：automatic guided vehicles mobile robots robot manipulator tracking control 

分 类 号：G63[文化科学—教育学]