Online Modelling and Tracking Control of Mobile Robots with Slippage in Outdoor Environments

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.