Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two steps: path following and rough positioning followed by a high-precision motion planning algorithm. This can generate suboptimal trajectories caused by bad positioning in the first phase and, therefore, prolong the time it takes to reach the goal. In this work, we propose a unified approach, which is based on a Model Predictive Control (MPC) that unifies the advantages of Model Predictive Contouring Control (MPCC) with a Cartesian MPC to reach a specific goal pose. The paper's main contributions are the adaption of the dynamic weight allocation method to reach path ends and goal poses inside driving corridors, and the development of the so-called dynamic objective MPC. The latter is an improvement of the dynamic weight allocation method, which can inherently switch state-dependent from an MPCC to a Cartesian MPC to solve the path-following problem and the high-precision positioning tasks independently of the location of the goal pose seamlessly by one algorithm. This leads to foresighted, feasible, and safe motion plans, which can decrease the mission time and result in smoother trajectories.
Design and Control of the "TransBoat": A Transformable Unmanned Surface Vehicle for Overwater Construction
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)（深圳市人工智能与机器人研究院）；The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen)（香港中文大学（深圳））；School of Science and Engineering (SSE), The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen)（香港中文大学（深圳）理工学院）
Trajectory Planning for an Articulated Commercial Vehicle using Model Predictive Contouring Control
Department of Mechanical Engineering, Eindhoven University of Technology（埃因霍温理工大学机械工程系）；Safety & Driver Controls Group, Vehicle Development, DAF Trucks N.V.（DAF卡车公司安全与驾驶控制组）
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学）
A High-frequency, Interaction-induced Pneumatic Oscillator Enabling Versatile Soft Robotics
Beijing University of Chemical Technology（北京化工大学）；Ritsumeikan University（立命馆大学）；University of Bristol（布里斯托大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Tsinghua University（清华大学）
