GPS-based tracking control for a car-like wheeled mobile robot with skidding and slipping

被引：76
|
作者：
Low, Chang Boon [1 ]
Wang, Danwei [2 ]
机构：
[1] Def Sci Org, Natl Labs, Singapore 118230, Singapore
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2008年 / 13卷 / 04期
关键词：
inertial sensors; mobile robot; outdoor vehicles; Real-Time Kinematic (RTK)-GPS; slipping; tracking control; wheel skidding;
D O I：
10.1109/TMECH.2008.2000827
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Many wheeled mobile robot (WMR) controllers are developed based on nonskidding and nonslipping assumptions; however, these assumptions are usually violated due to wheel tire deformation. As a result, the performance of these controllers is not guaranteed. This paper presents a GPS-based tracking controller for a car-like WMR in the presence of wheel skidding and slipping. The controller exploits Real-Time Kinematic (RTK)-GPS and other aiding sensors to measure the WMR's posture, velocities, and perturbations due to wheel skidding and slipping for control compensation. The reported experimental results validate the control scheme.
引用
收藏
页码：480 / 484
页数：5
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