Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control

Abstract

In mobile robot path tracking applications, an autonomous vehicle is steered to stay as close as possible to a desired path. If lateral wheel slip is an important variable, as it is the case at high speed and due to low tire-ground friction in off-road applications, limits of the steering actuators, the major input constraints of the system, have a major… (More)
DOI: 10.1109/IROS.2011.6095007

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