Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity
This paper proposes an algorithm dedicated to the control of off-road mobile robots at high speed. Based on adaptive and predictive principles, it first proposes a control law to preserve a high level of accuracy in the path tracking problem. Next, the dynamic model used for grip condition estimation is considered to address also robot integrity preservation thanks to the velocity limitation.
KeywordsMobile Robot Model Predictive Control Vehicle Automatic Guidance Rear Axle Sideslip Angle
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