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Authors: Roland Lenain 1 ; Ange Nizard 2 ; Mathieu Deremetz 1 ; Benoit Thuilot 2 ; Vianney Papot 1 and Christophe Cariou 1

Affiliations: 1 Irstea, Technologies and Information Support System Research Unit, 9 avenue Blaise Pascal, CS 20085, 63178 Aubière and France ; 2 Université Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand and France

ISBN: 978-989-758-321-6

Keyword(s): Adaptive Control, Four-wheel-steering Mobile Robot, Path Following, Agriculture, Off-road.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper proposes a path tracking control algorithm dedicated to off-road mobile robots equipped with two steering axles. Four wheel steering mobile robot allows to enhanced motion capability with respect to classical car-like mobile robot, while reducing the friction induced by the skid-steered architecture. In particular, such a kinematic structure makes it possible to independently control the robot heading and its position, or to increase turning capabilities. In this paper, a strategy is developed in order to reduce the space required when achieving manoeuvres around a desired trajectory. Contrarily to classical point of view, expressing a relationship between the front and rear wheels, the control laws here proposed aim at following the same path for the front and the rear centre of the axle. The robot is then split into two subsystems, regulating two lateral deviations with respect to a desired trajectory.

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Paper citation in several formats:
Lenain R., Nizard A., Deremetz M., Thuilot B., Papot V. and Cariou C. (2018). Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 163-170. DOI: 10.5220/0006865801730180

@conference{icinco18,
author={Roland Lenain and Ange Nizard and Mathieu Deremetz and Benoit Thuilot and Vianney Papot and Christophe Cariou},
title={Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={163-170},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006865801730180},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy
SN - 978-989-758-321-6
AU - Lenain R.
AU - Nizard A.
AU - Deremetz M.
AU - Thuilot B.
AU - Papot V.
AU - Cariou C.
PY - 2018
SP - 163
EP - 170
DO - 10.5220/0006865801730180

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