Nonlinear Model Predictive Control for Two-Wheeled Service Robots

  • Shunichi SekiguchiEmail author
  • Ayanori Yorozu
  • Kazuhiro Kuno
  • Masaki Okada
  • Yutaka Watanabe
  • Masaki Takahashi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


Two-wheeled service robots capable of following a person are an active research topic. These robots will support and follow customers like tourists to many places. It is necessary that an appropriate distance be maintained between the human and the robot. In addition, robots need to not only approach but also turn toward the human to provide services when the human stops walking. Therefore, the control system should change its property depending on the situation. However, many of the previous researches report an algorithm having only one property. Thus, this research proposed a motion control system of a two-wheeled service robot that could turn around while simultaneously following a human. To achieve this, we use nonlinear model predictive control (NMPC) and evaluation function weights depending on the relative distance between robots and human.


Nonlinear Model Predictive Control Two-wheeled robots Service robots Non-holonomic system 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Shunichi Sekiguchi
    • 1
    Email author
  • Ayanori Yorozu
    • 2
  • Kazuhiro Kuno
    • 3
  • Masaki Okada
    • 3
  • Yutaka Watanabe
    • 3
  • Masaki Takahashi
    • 1
  1. 1.Department of System Design EngineeringKeio UniversityKohokuku, YokohamaJapan
  2. 2.Graduate School of Science and TechnologyKeio UniversityKohoku-ku, YokohamaJapan
  3. 3.EQUOS RESEARCH Co., Ltd.AnjoJapan

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