High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach - Archive ouverte HAL Access content directly
Conference Papers Year : 2011

High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach

Abstract

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 multi-model 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.
Fichier principal
Vignette du fichier
CF2011-PUB00031933.pdf (1.09 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00615483 , version 1 (19-08-2011)

Identifiers

Cite

R. Lenain, Benoît Thuilot, O. Hach, P. Martinet. High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach. IEEE International Conference on Robotics and Automation, ICRA'11, May 2011, Shangaï, China. p. 6143 - p. 6149. ⟨hal-00615483⟩
78 View
234 Download

Share

Gmail Facebook Twitter LinkedIn More