Mobile robot control in presence of sliding: Application to agricultural vehicle path tracking
Mobile robot control in presence of sliding: Application to agricultural vehicle path tracking
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DOI：
10.1109/cdc.2006.377520
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发表时间：
2006-12
期刊：
影响因子：
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通讯作者：
R. Lenain;B. Thuilot;C. Cariou;P. Martinet
中科院分区：
文献类型：
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作者：
R. Lenain;B. Thuilot;C. Cariou;P. Martinet
专用于路径跟踪任务的移动的机器人的控制设计通常基于轮/地接触点处的滚动无滑动假设。然而，这样的假设是不相关的越野车辆和非滑动假设的使用在这种情况下导致重要的跟踪误差。此外，考虑用于越野应用（例如农业任务）的车辆通常具有重要的质量和惯性，并配备有低反应致动器。其结果是，延迟被引入到控制回路中，这大大降低了自主路径跟踪的性能，特别是在路径曲率的修改期间。本文提出了几个发展，依赖于自适应和预测的基于控制，致力于自动引导越野移动的机器人。所提出的算法的相关性进行了研究，通过全面的实验，进行了农用拖拉机，作为所考虑的应用是农业工作
Control design of mobile robots dedicated to path tracking tasks is generally based on the rolling without sliding assumption at the wheel/ground contact point. However, such an hypothesis is not relevant for off-road vehicle and the use of non sliding assumption in this case leads to important tracking errors. Moreover, the vehicles considered for off-road applications (such as agricultural tasks) have generally important mass and inertia and are equipped with low reactive actuators. As a result, delays are introduced into the control loop, which depreciate considerably the performances of autonomous path tracking, especially during a modification of path curvature. This paper proposes several developments, relying on adaptive and predictive observer-based control, dedicated to automatic guidance of off-road mobile robots. The relevancy of the proposed algorithm is investigated via full scale experiments, carried out with a farm tractor, as the considered application is agricultural work