Automatic guidance of a four-wheel steering vehicle

Abstract : This paper is aimed to present the development of an automatic guidance system dedicated to a four-wheel steering vehicle. The attractive feature is that, despite of sliding phenomena, both lateral and angular deviations can be explicitly controlled with respect to the path to be followed. This is particularly useful to compensate the crabway motion on sloping terrain and maintain the direction of the vehicle parallel to the slope. On the contrary, in order to reduce soil compaction generally caused by the load of several wheels in the same track, the path following can be carried out with a chosen crab angle. Relying on a kinematic model extended with sliding parameters, a backstepping control approach is considered. Actual experiments carried out with a four-wheel-steering vehicle on a low adherent sloping terrain demonstrate the capabilities of the proposed control law.
Type de document :
Communication dans un congrès
LandTechnik conference, Sep 2008, Hohenheim, Germany. 2008
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00344842
Contributeur : Benoit Thuilot <>
Soumis le : vendredi 5 décembre 2008 - 18:57:28
Dernière modification le : jeudi 11 janvier 2018 - 06:17:21

Identifiants

  • HAL Id : hal-00344842, version 1

Citation

Christophe Cariou, Roland Lenain, Benoît Thuilot, Michel Berducat. Automatic guidance of a four-wheel steering vehicle. LandTechnik conference, Sep 2008, Hohenheim, Germany. 2008. 〈hal-00344842〉

Partager

Métriques

Consultations de la notice

115