High accuracy path tracking of a four-wheel-steering all-terrain vehicle on a slippery slope

Abstract : In this paper, automatic path tracking of a four-wheel-steering vehicle in presence of sliding is adressed. The attractive feature of such a steering system is that, despite of sliding phenomena, both lateral and angular deviations can be explicitly controlled. Indeed, previous research has demonstrated that high-precision path tracking on a low grip terrain can be achieved with two-wheel-steering vehicles. However, in that case, only the lateral deviation is satisfactorily close to zero, the angular deviation is non null in order to compensate for sliding effects. In this paper, previous adaptive control laws are extended to the case of four-wheel-steering mobile robots with the aim to servo both lateral and angular deviations. Relying on an extended kinematic model, a backstepping control approach, considering successively front and rear steering control, has been designed. Actual experiments have been carried out on a low adherent sloping terrain with a four-wheel-steering vehicle equipped with a single RTK-GPS. They demonstrate the capabilities of the proposed control law and its robustness in actual all-terrain conditions.
Type de document :
Communication dans un congrès
International Conference on Agricultural Engineering (AgEng), Jun 2008, Hersonissos, Greece. 2008
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00344837
Contributeur : Benoit Thuilot <>
Soumis le : vendredi 5 décembre 2008 - 18:49:29
Dernière modification le : jeudi 11 janvier 2018 - 06:17:21

Identifiants

  • HAL Id : hal-00344837, version 1

Citation

Christophe Cariou, Roland Lenain, Benoît Thuilot, Michel Berducat. High accuracy path tracking of a four-wheel-steering all-terrain vehicle on a slippery slope. International Conference on Agricultural Engineering (AgEng), Jun 2008, Hersonissos, Greece. 2008. 〈hal-00344837〉

Partager

Métriques

Consultations de la notice

102