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High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach

Abstract : This paper is focused on the design of a control strategy for the path tracking of off-road mobile robots acting at high speed. In order to achieve high accuracy in such a context, uncertain and fast dynamics have to be explicitly taken into account. Since these phenomena (grip conditions, delays due to inertial and low-level control properties) are hardly measurable directly, the proposed approach relies on predictive and observer-based adaptive control techniques. In particular, the adaptive part is based on an observer loop, taking advantage of both kinematic and dynamic vehicle models. This multi-model based adaptive approach permits to adapt on-line the grip conditions (represented by cornering stiffnesses), enabling highly reactive sideslip angles observation and then accurate path tracking. The relevance of this approach is investigated through full scale experiments.
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https://hal.archives-ouvertes.fr/hal-00615483
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Submitted on : Friday, August 19, 2011 - 2:24:32 PM
Last modification on : Wednesday, September 9, 2020 - 10:50:04 AM
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  • HAL Id : hal-00615483, version 1
  • IRSTEA : PUB00031933

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R. Lenain, Benoît Thuilot, O. Hach, P. Martinet. High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach. IEEE International Conference on Robotics and Automation, ICRA'11, May 2011, Shangaï, China. p. 6143 - p. 6149. ⟨hal-00615483⟩

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