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ICRA
2007
IEEE

Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

14 years 6 months ago
Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots
— Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot. Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile robot to follow a desired trajectory. A Lyapunovbased convergence analysis of the controller and the estimation of the friction model parameter is presented. Simulation and preliminary experimental results based on a four-wheel robot prototype are demonstrated for the effectiveness and efficiency of the proposed modeling and control scheme.
Jingang Yi, Dezhen Song, Junjie Zhang, Zane Goodwi
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Jingang Yi, Dezhen Song, Junjie Zhang, Zane Goodwin
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