High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach
This paper is focused on the design of a control strategy for the path tracking of off-road mobile robots acting at high speed. In order to achieve high accuracy in such a context, uncertain and fast dynamics have to be explicitly taken into account. Since these phenomena (grip conditions, delays due to inertial and low-level control properties) are hardly measurable directly, the proposed approach relies on predictive and observer-based adaptive control techniques. In particular, the adaptive part is based on an observer loop, taking advantage of both kinematic and dynamic vehicle models. This multimodel based adaptive approach permits to adapt on-line the grip conditions (represented by cornering stiffnesses), enabling highly reactive sideslip angles observation and then accurate path tracking. The relevance of this approach is investigated through full scale experiments.
Roland Lenain Benoit Thuilot Oliver Hach Philippe Martinet
Cemagref,24 avenue des Landais,63172 Aubi(e)re,France Clermont Universit(e),Universit(e) Blaise Pascal,LASMEA,BP 10448,63000 Clermont-Ferrand,France CNRS, Clermont Universit(e),IFMA,LASMEA,BP 10448,63000 Clermont-Ferrand,France CNRS,UMR 6602,LASMEA,63177
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
6143-6149
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）