Accurate and stable mobile robot path tracking algorithm: An integrated solution for off-road and high speed context
نویسندگان
چکیده
This paper is focused on the problem of accurate and reliable path tracking control of a 4-wheels car-like mobile robot moving off-road at high speed. Dynamic and extended kinematic models that take into account the effects of wheel skidding are presented. Based on the extended kinematic model, an adaptive and predictive controller for the path tracking is derived. This control law is combined to a stabilization algorithm of yaw motion, based on dynamic model and the modulation of driven wheel forces. The overall control architecture is experimentally evaluated on a slipping terrain. Results demonstrate enhanced performance as the robot succeed in following the path at high speed, accurately and without loss of control.
منابع مشابه
Trajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملMulti-models based sideslip angles observer: Accurate control of high-speed mobile robots in off-road conditions
Accurate control of high-speed mobile robots moving off-road constitutes a challenging robotic issue: numerous time-varying dynamic phenomena (and first of all, sliding effects) are no longer negligible and must explicitly be taken into account in control design, in order to ensure high accuracy path tracking. Since these phenomena are hardly measurable at a reasonable cost, they have to be est...
متن کاملTrajectory Tracking Weeled Mobile Robot Using Backstepping Method with Connection off Axle Trailer
The connection of the tractor to the inactive trailer or motor vehicle causes a motion control problem when turning in the screw, forward or backward movements and high speeds. This is due to the inactive trailer being controlled by the tracking using a physical link that is not affected by the movement. Trailers usually take tracks under these conditions. This phenomenon is called Jack Knife. ...
متن کاملAdaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...
متن کامل