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Accurate and stable mobile robot path tracking: An integrated solution for off-road and high speed context

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5 Author(s)
Roland Lenain ; Cemagref, 24 avenue des Landais BP50085, 63172 Aubiere, France ; Eric Lucet ; Christophe Grand ; Benoit Thuilot
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This paper is focused on the problem of accurate and reliable path tracking control of a 4-wheels car-like mobile robot moving off-road at high speed. Dynamic and extended kinematic models that take into account the effects of wheel skidding are presented. Based on the extended kinematic model, an adaptive and predictive controller for path tracking is derived. This control law is combined to a stabilization algorithm of yaw motion, based on the dynamic model and the modulation of driven wheel forces. The overall control architecture is experimentally evaluated on a slipping terrain. Results demonstrate enhanced performances as the robot succeed in following the path at high speed, accurately and without loss of control.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010