R
Roland Lenain
Researcher at University of Auvergne
Publications - 114
Citations - 1619
Roland Lenain is an academic researcher from University of Auvergne. The author has contributed to research in topics: Mobile robot & Adaptive control. The author has an hindex of 21, co-authored 104 publications receiving 1430 citations.
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Journal ArticleDOI
High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks
TL;DR: A Model Predictive Control method is applied in order to preserve accuracy of guidance even during these curvature transitions, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.
Journal IssueDOI
Automatic guidance of a four-wheel-steering mobile robot for accurate field operations
TL;DR: In this article, a four-wheel-steering (4WS) mobile robot is considered, enabling servo of both lateral and angular deviations with respect to a desired trajectory, and a predictive algorithm is developed in order to address delays induced by steering actuators, compensating for transient overshoots in curves.
Journal ArticleDOI
Robust anti-sliding control of autonomous vehicles in presence of lateral disturbances
TL;DR: In this paper, a Luenberger-type observer is designed, which is able to identify the tire cornering stiffness adaptively even in presence of time-varying lateral disturbances.
Journal ArticleDOI
Automatic guidance of a four-wheel-steering mobile robot for accurate field operations: Cariou et al.: Automatic Guidance of a Four-Wheel-Steering Mobile Robot
Proceedings ArticleDOI
Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm Vehicles Path Tracking
TL;DR: A vehicle extended kinematic model is first built in order to account for sliding phenomena, and a Model Predictive Control strategy is developed to reduce the effects induced by actuation delays and vehicle large inertia.