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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.
Date of Conference: 18-22 Oct. 2010