Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks

@article{Lenain2006SideslipAO,
  title={Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks},
  author={Roland Lenain and Benoit Thuilot and Christophe Cariou and Philippe Martinet},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={3183-3188}
}
Automatic devices dedicated to vehicle guidance in off-road conditions are necessarily confronted with sliding phenomenon, since it may considerably damage the accuracy of the following task. Control laws taking explicitly into account such a phenomenon have already been designed in previous work. They can actually improve the guidance accuracy. However their efficiency is highly dependent on the sliding parameters estimation (since these parameters cannot be provided by a direct measurement… CONTINUE READING

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