Online Modelling and Tracking Control of Mobile Robots with Slippage in Outdoor Environments
ZHOU Bo1, DAI Xianzhong1, HAN Jianda2
1. Key Laboratory of Measurement and Control of CSE, School of Automation, Southeast University, Nanjing 210096, China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
周波, 戴先中, 韩建达. 野外移动机器人滑动效应的在线建模和跟踪控制[J]. 机器人, 2011, 33(3): 265-272..
ZHOU Bo, DAI Xianzhong, HAN Jianda. Online Modelling and Tracking Control of Mobile Robots with Slippage in Outdoor Environments. ROBOT, 2011, 33(3): 265-272..
Abstract：The problems of slippage modeling and compensating control for mobile robots in outdoor environments are studied.Focusing on a tracked mobile robot,the slippage efficiency between tracks of a tracked mobile robot and ground is analyzed and modeled as time-varying parameters,meanwhile the corresponding kinematic and dynamic models of the robot are created with slipping parameters.Then the online nonlinear estimators such as the square-rooted unscented Kalman filter (UKF)can be used to estimate the pose and slipping parameters jointly.Furthermore the dynamic feedback linearization integrated with a globally exponentially convergent control law is applied to the tracking control.Simulation results demonstrate the effectiveness and robustness of the proposed method.
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