Accurate and stable mobile robot path tracking algorithm : An integrated solution for off-road and high speed context

@inproceedings{Lenain2010AccurateAS,
  title={Accurate and stable mobile robot path tracking algorithm : An integrated solution for off-road and high speed context},
  author={Roland Lenain and Eric Lucet and Christophe Grand and Benoit Thuilot and Faiz Ben Amar and RoboSoft and ISIR},
  year={2010}
}
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 mod el, 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… CONTINUE READING

References

Publications referenced by this paper.
SHOWING 1-10 OF 17 REFERENCES

Stabilization algorithm for a high speed car-like robot achieving steering maneuver

  • 2008 IEEE International Conference on Robotics and Automation
  • 2008
VIEW 3 EXCERPTS
HIGHLY INFLUENTIAL

F

D. Lhomme-Desages, C. Grand
  • Ben Amar, and J.C. Guinot , Doppler-based ground speed sensor fusion and slip-control for a wheeled rover , IEEE/ASME Transactions on mechatronics, vol. 14
  • 2009
VIEW 1 EXCERPT

Mobile robot path tracking of aggressive maneuvers on sloped terrain

  • 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2008
VIEW 1 EXCERPT

An Analysis of Wheeled Mobile Robots in the Presence of skidding and slipping: Control Design Perspective

  • Proceedings 2007 IEEE International Conference on Robotics and Automation
  • 2007
VIEW 1 EXCERPT

Similar Papers

Loading similar papers…