An anti-trackslip path tracking algorithm for steel box girder inspection robot based on model prediction control

An anti-trackslip path tracking algorithm for steel box girder inspection robot based on model prediction (MPC) is proposed in this paper. This algorithm is oriented to the actual needs of the automatic inspection of steel box girder of super large bridges. It solves the slippage problem of the inspection robot because of the wear of driving wheels and slippery contact. The kinematic models of lon...