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Informations générales |
| Auteur |
Ha, Xuan Vinh; Ha, Cheolkeun; Lee, Jewon |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
Skid‐steered mobile robots have been widely
used in exploring unknown environments and in
military applications. In this paper, the tuning fuzzy
Vector Field Orientation (FVFO) feedback control
method is proposed for a four track wheel skid‐steered
mobile robot (4‐TW SSMR) using flexible fuzzy logic
control (FLC). The extended Kalman filter is utilized to
estimate the positions, velocities and orientation angles,
which are used for feedback control signals in the FVFO
method, based on the AHRS kinematic motion model
and velocity constraints. In addition, in light of the
wheel slip and the braking ability of the robot, we
propose a new method for estimating online wheel slip
parameters based on a discrete Kalman filter to
compensate for the velocity constraints. As
demonstrated by our experimental results, the
advantages of the combination of the proposed FVFO
and wheel slip estimation methods overcome the
limitations of the others in the trajectory tracking
control problem for a 4‐TW SSMR. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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