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GPS-Based Tracking Control for a Car-Like Wheeled Mobile Robot With Skidding and Slipping

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2 Author(s)
Chang Boon Low ; Defence Sci. Organ. (DSO) Nat. Labs., Singapore ; Danwei Wang

Many wheeled mobile robot (WMR) controllers are developed based on nonskidding and nonslipping assumptions; however, these assumptions are usually violated due to wheel tire deformation. As a result, the performance of these controllers is not guaranteed. This paper presents a GPS-based tracking controller for a car-like WMR in the presence of wheel skidding and slipping. The controller exploits real-time kinematic (RTK)-GPS and other aiding sensors to measure the WMR's posture, velocities, and perturbations due to wheel skidding and slipping for control compensation. The reported experimental results validate the control scheme.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:13 ,  Issue: 4 )