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Communication Dans Un Congrès Année : 2011

A dynamic based path tracking controller for a fast rover with independent steering and drive

Résumé

The paper presents a path tracking controller for a fast rover which has independent front and rear steering and four independent driven wheels. The paper develop first the dynamic model of the vehicle moving on a horizontal plane. Next, the model is linearized by assuming that the side slip angles remain small and a linear lateral slippage model introducing the lateral contact stiffness is used. The kinematics of the vehicle is also linearized by assuming that the rover remains close a reference path and with a small relative heading angle. The linearized model permits the design of a Linear Quadratic Regulator LQR which is tested by using Matlab-Simulink/Adams co-simulation. Simulation results, obtained with numerous reference paths, show a good control accuracy and appears to be robust with respect to environment and robot state changes.
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Dates et versions

hal-03177948 , version 1 (24-03-2021)

Identifiants

Citer

Mohamed Krid, Faïz Ben Amar. A dynamic based path tracking controller for a fast rover with independent steering and drive. 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.78-85, ⟨10.1142/9789814374286_0009⟩. ⟨hal-03177948⟩
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