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Mobile robot control in presence of sliding: Application to agricultural vehicle path tracking

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4 Author(s)
Roland Lenain ; Cemagref, BP50085 - 24, av. des Landais, 63172 Aubière Cedex France. roland.lenain@cemagref.fr ; Benoit Thuilot ; Christophe Cariou ; Philippe Martinet

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

Published in:

Proceedings of the 45th IEEE Conference on Decision and Control

Date of Conference:

13-15 Dec. 2006