Proceedings ArticleDOI
Trajectory tracking control of a four-wheel differentially driven mobile robot
L. Caracciolo,A. De Luca,S. Iannitti +2 more
- Vol. 4, pp 2632-2638
TLDR
This work considers the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain and designs a model-based nonlinear controller, following the dynamic feedback linearization paradigm.Abstract:
We consider the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain. A dynamic model is presented accounting for the effects of wheel skidding. A model-based nonlinear controller is designed, following the dynamic feedback linearization paradigm. An operational nonholonomic constraint is added at this stage, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The controller is then robustified, using conventional linear techniques, against uncertainty in the soil parameters at the ground-wheel contact. Simulation results show the good performance in tracking spline-type trajectories on a virtual terrain with varying characteristics.read more
Citations
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Journal Article
Modeling and control of a 4-wheel skid-steering mobile robot
TL;DR: An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed, and extensive simulation results for trajectory tracking and set-point cases are discussed.
Patent
Lawn care robot
Paul E. Sandin,Joseph L. Jones,Daniel N. Ozick,David A. Cohen,David M. Lewis,Clara Vu,Zivthan A. Dubrovsky,Joshua B. Preneta,Jeffrey W. Mammen,Duane Gilbert,Tony L. Campbell,John Bergman +11 more
TL;DR: In this article, a robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn, including a grass cutter and a swath edge detector.
Proceedings ArticleDOI
Experimental kinematics for wheeled skid-steer mobile robots
Anthony Mandow,Jorge L. Martínez,Jesus Morales,Jose-Luis Blanco,Alfonso García-Cerezo,Javier Gonzalez +5 more
TL;DR: This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop.
Journal ArticleDOI
A higher level path tracking controller for a four-wheel differentially steered mobile robot
TL;DR: A fuzzy logic controller (FLC) for the path tracking of a wheeled mobile robot based on controlling the robot at a higher level is presented and automatically follows a sequence of discrete waypoints, and no interpolation of the waypoints is needed to generate a continuous reference trajectory.
Journal ArticleDOI
Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle
TL;DR: It is shown that the closed-loop system that results from inclusion of the dynamics of the [proportional--integral--derivative (PID)] speed controllers for each set of wheels does a much better job than the open-loop model of predicting the vehicle linear and angular velocities.
References
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Journal ArticleDOI
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
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Journal ArticleDOI
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